From b6cd5e1eb6c146b8dfcce79850cff16f4acf4861 Mon Sep 17 00:00:00 2001
From: Pierre Fernbach <pierre.fernbach@laas.fr>
Date: Thu, 8 Feb 2018 18:03:05 +0100
Subject: [PATCH] in computePolytopeProjection : assure that H have more rows
than there generators
---
src/centroidal_dynamics.cpp | 12 ++++++++++++
1 file changed, 12 insertions(+)
diff --git a/src/centroidal_dynamics.cpp b/src/centroidal_dynamics.cpp
index 7a4c5c5..d17db93 100644
--- a/src/centroidal_dynamics.cpp
+++ b/src/centroidal_dynamics.cpp
@@ -517,6 +517,9 @@ LP_status Equilibrium::findExtremumInDirection(Cref_vector3 direction, Ref_vecto
bool Equilibrium::computePolytopeProjection(Cref_matrix6X v)
{
+ int n = (int)(v.rows());
+ int m = (int)(v.cols());
+
// getProfiler().start("eigen_to_cdd");
dd_MatrixPtr V = cone_span_eigen_to_cdd(v.transpose(),canonicalize_cdd_matrix);
// getProfiler().stop("eigen_to_cdd");
@@ -571,6 +574,15 @@ bool Equilibrium::computePolytopeProjection(Cref_matrix6X v)
}
// getProfiler().stop("cdd to eigen");
+ std::cout<<" inequalities : m = "<<m<<std::endl;
+ if(m_h.rows() < n )
+ {
+ SEND_ERROR_MSG("numerical instability in cddlib. ill formed polytope");
+ m_is_cdd_stable = false;
+ return false;
+ }
+
+
return true;
}
--
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