From 92bdfd0241de243ba2cad4f76ca7c3e9f18be33e Mon Sep 17 00:00:00 2001
From: Steve Tonneau <stonneau@axle.laas.fr>
Date: Tue, 9 Aug 2016 16:02:59 +0200
Subject: [PATCH] added option to canonicalize generators matrix
---
include/robust-equilibrium-lib/util.hh | 3 ++-
src/util.cpp | 13 ++++++++++++-
2 files changed, 14 insertions(+), 2 deletions(-)
diff --git a/include/robust-equilibrium-lib/util.hh b/include/robust-equilibrium-lib/util.hh
index d540d1d..522f8d8 100644
--- a/include/robust-equilibrium-lib/util.hh
+++ b/include/robust-equilibrium-lib/util.hh
@@ -101,10 +101,11 @@ namespace robust_equilibrium
/**
* Convert the specified list of rays from Eigen to cdd format.
* @param input The mXn input Eigen matrix contains m rays of dimension n.
+ * @param bool whether to remove redundant inequalities
* @return The mX(n+1) output cdd matrix, which contains an additional column,
* the first one, with all zeros.
*/
- dd_MatrixPtr cone_span_eigen_to_cdd(Cref_matrixXX input);
+ dd_MatrixPtr cone_span_eigen_to_cdd(Cref_matrixXX input, const bool canonicalize=false);
/**
* Compute the cross-product skew-symmetric matrix associated to the specified vector.
diff --git a/src/util.cpp b/src/util.cpp
index 7ffb2ae..9b0770d 100644
--- a/src/util.cpp
+++ b/src/util.cpp
@@ -12,7 +12,7 @@
namespace robust_equilibrium
{
-dd_MatrixPtr cone_span_eigen_to_cdd(Cref_matrixXX input)
+dd_MatrixPtr cone_span_eigen_to_cdd(Cref_matrixXX input, const bool canonicalize)
{
dd_debug = false;
dd_MatrixPtr M=NULL;
@@ -40,6 +40,17 @@ dd_MatrixPtr cone_span_eigen_to_cdd(Cref_matrixXX input)
}
}
dd_clear(value);
+ if(canonicalize)
+ {
+ dd_ErrorType error = dd_NoError;
+ dd_rowset redset,impl_linset;
+ dd_rowindex newpos;
+ dd_MatrixCanonicalize(&M, &impl_linset, &redset, &newpos, &error);
+ set_free(redset);
+ set_free(impl_linset);
+ free(newpos);
+ }
+
return M;
}
--
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