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Commit 6c2aff11 authored by Steve Tonneau's avatar Steve Tonneau
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canonicalize cone linear inequalities matrix

parent 05d76f6d
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......@@ -515,6 +515,16 @@ bool StaticEquilibrium::computePolytopeProjection(Cref_matrix6X v)
// getProfiler().start("cdd to eigen");
dd_MatrixPtr b_A = dd_CopyInequalities(H_);
if(canonicalize_cdd_matrix)
{
dd_ErrorType error = dd_NoError;
dd_rowset redset,impl_linset;
dd_rowindex newpos;
dd_MatrixCanonicalize(&b_A, &impl_linset, &redset, &newpos, &error);
set_free(redset);
set_free(impl_linset);
free(newpos);
}
// get equalities and add them as complementary inequality constraints
std::vector<long> eq_rows;
for(long elem=1;elem<=(long)(b_A->linset[0]);++elem)
......
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