Fixed DantzigLCPSolver when getTotalDimension = 0 #634
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This previously resulted in the LCP solver accessing invalid memory and crashing.
| size_t n = _group->getTotalDimension(); | ||
|
|
||
| // If there is no constraint, then just return. | ||
| if (n == 0) |
There was a problem hiding this comment.
nitpick: some compiler would complain to comparing signed and unsigned. if (0u == n) would help. also, @mxgrey would like to use Yoda conditions. 😉
|
Should it not be |
|
I don't see why we have to check |
|
You're right, zero dimensions also implies zero constraints. I assumed that the "dimension" referred to the dimension of the problem, not the sum of constraint dimensions. I should have checked the function definition. 👍 |
jslee02
added a commit
that referenced
this pull request
Mar 20, 2016
Fixed DantzigLCPSolver when getTotalDimension = 0
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
The code previously checked for
getNumConstraints() == 0, but notgetTotalDimension() == 0. This caused the LCP solver to access invalid memory if constraints were present, but all constraints hadgetDimension() == 0. I ran into this using aServoJointConstraintin a completely empty environment.Thanks @jslee02 for helping me debug this.