From 6c2aff11ad8808c72aed60c06725be7eeffb0fd5 Mon Sep 17 00:00:00 2001
From: Steve Tonneau <stonneau@axle.laas.fr>
Date: Sat, 24 Sep 2016 19:46:39 +0200
Subject: [PATCH] canonicalize cone linear inequalities matrix
---
src/static_equilibrium.cpp | 10 ++++++++++
1 file changed, 10 insertions(+)
diff --git a/src/static_equilibrium.cpp b/src/static_equilibrium.cpp
index 3337f40..8e4de3e 100644
--- a/src/static_equilibrium.cpp
+++ b/src/static_equilibrium.cpp
@@ -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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