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Bugfix incoherent bounds seidel lp 1d #247

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Bugfix incoherent bounds seidel lp 1d #247

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80b3f23
fix #245: Cannot convert from initializer list to toppra::BoundaryCond
mskripnik Jan 15, 2024
b47400c
fix #244: Seidel LP 1D: incoherent bounds
mskripnik Jan 15, 2024
b7b76d8
Update HISTORY.md
mskripnik Jan 15, 2024
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3 changes: 3 additions & 0 deletions HISTORY.md
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Original file line number Diff line number Diff line change
@@ -1,5 +1,8 @@
# Changelog

- [cpp]: fix: Seidel LP 1D: incoherent bounds (#244)
- [cpp]: fix: Cannot convert from 'initializer list' to 'toppra::BoundaryCond' (#245)

## 0.6.2 (Sept 19 2023)

### Changed
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8 changes: 8 additions & 0 deletions cpp/src/toppra/solver/seidel-internal.hpp
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Expand Up @@ -116,6 +116,14 @@ LpSol1d solve_lp1d(const RowVector2& v, const Eigen::MatrixBase<Derived>& A)
}
}

// In case upper bound becomes less than lower bound and their difference is not more than
// 2*ABS_TOLERANCE, extend both bounds to not make the problem infeasible due to numerical
// errors.
if (cur_max < cur_min && cur_min - cur_max < 2 * ABS_TOLERANCE) {
cur_min -= ABS_TOLERANCE;
cur_max += ABS_TOLERANCE;
}

if ( cur_min - cur_max > std::max(std::abs(cur_min),std::abs(cur_max))*REL_TOLERANCE
|| cur_min == infinity
|| cur_max == -infinity) {
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32 changes: 16 additions & 16 deletions cpp/tests/test_cubic_spline.cpp
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Expand Up @@ -76,7 +76,7 @@ Vectors CubicSpline::positions;
Vector CubicSpline::times;

TEST_F(CubicSpline, ClampedSpline) {
BoundaryCond bc{1, {0, 0, 0, 0, 0, 0}};
BoundaryCond bc{1, std::vector<value_type>{0, 0, 0, 0, 0, 0}};
BoundaryCondFull bc_type{bc, bc};
ConstructCubicSpline(positions, times, bc_type);
AssertSplineKnots();
Expand All @@ -92,34 +92,34 @@ TEST_F(CubicSpline, ClampedSplineString) {
}

TEST_F(CubicSpline, NaturalSpline) {
BoundaryCond bc{2, {0, 0, 0, 0, 0, 0}};
BoundaryCond bc{2, std::vector<value_type>{0, 0, 0, 0, 0, 0}};
BoundaryCondFull bc_type{bc, bc};
ConstructCubicSpline(positions, times, bc_type);
AssertSplineKnots();
AssertSplineBoundaryConditions(bc_type);
}

TEST_F(CubicSpline, FirstOrderBoundaryConditions) {
BoundaryCondFull bc_type{BoundaryCond{1, {1.25, 0, 4.12, 1.75, 7.43, 5.31}},
BoundaryCond{1, {3.51, 5.32, 4.63, 0, -3.12, 3.53}}};
BoundaryCondFull bc_type{BoundaryCond{1, std::vector<value_type>{1.25, 0, 4.12, 1.75, 7.43, 5.31}},
BoundaryCond{1, std::vector<value_type>{3.51, 5.32, 4.63, 0, -3.12, 3.53}}};
ConstructCubicSpline(positions, times, bc_type);
AssertSplineKnots();
AssertSplineBoundaryConditions(bc_type);
}

TEST_F(CubicSpline, SecondOrderBoundaryConditions) {
BoundaryCondFull bc_type{
BoundaryCond{2, {1.52, -4.21, 7.21, 9.31, -1.53, 7.54}},
BoundaryCond{2, {-5.12, 8.21, 9.12, 5.12, 24.12, 9.42}}};
BoundaryCond{2, std::vector<value_type>{1.52, -4.21, 7.21, 9.31, -1.53, 7.54}},
BoundaryCond{2, std::vector<value_type>{-5.12, 8.21, 9.12, 5.12, 24.12, 9.42}}};
ConstructCubicSpline(positions, times, bc_type);
AssertSplineKnots();
AssertSplineBoundaryConditions(bc_type);
}

TEST_F(CubicSpline, FirstOrderAndSecondOrderBoundaryConditions) {
BoundaryCondFull bc_type{
BoundaryCond{1, {1.52, -4.21, 7.21, 9.31, -1.53, 7.54}},
BoundaryCond{2, {-5.12, 8.21, 9.12, 5.12, 24.12, 9.42}}};
BoundaryCond{1, std::vector<value_type>{1.52, -4.21, 7.21, 9.31, -1.53, 7.54}},
BoundaryCond{2, std::vector<value_type>{-5.12, 8.21, 9.12, 5.12, 24.12, 9.42}}};
ConstructCubicSpline(positions, times, bc_type);
AssertSplineKnots();
AssertSplineBoundaryConditions(bc_type);
Expand All @@ -132,8 +132,8 @@ TEST_F(CubicSpline, BadPositions) {
{6.25, 8.12, 9.52, 5.21, 8.31},
{7.31, 3.53, 8.41, 9.56, -3.15, 4.83}});
BoundaryCondFull bc_type{
BoundaryCond{2, {1.52, -4.21, 7.21, 9.31, -1.53, 7.54}},
BoundaryCond{2, {-5.12, 8.21, 9.12, 5.12, 24.12, 9.42}}};
BoundaryCond{2, std::vector<value_type>{1.52, -4.21, 7.21, 9.31, -1.53, 7.54}},
BoundaryCond{2, std::vector<value_type>{-5.12, 8.21, 9.12, 5.12, 24.12, 9.42}}};
ASSERT_THROW(ConstructCubicSpline(bad_positions, times, bc_type),
std::runtime_error);

Expand All @@ -147,8 +147,8 @@ TEST_F(CubicSpline, BadPositions) {

TEST_F(CubicSpline, BadTimes) {
BoundaryCondFull bc_type{
BoundaryCond{2, {1.52, -4.21, 7.21, 9.31, -1.53, 7.54}},
BoundaryCond{2, {-5.12, 8.21, 9.12, 5.12, 24.12, 9.42}}};
BoundaryCond{2, std::vector<value_type>{1.52, -4.21, 7.21, 9.31, -1.53, 7.54}},
BoundaryCond{2, std::vector<value_type>{-5.12, 8.21, 9.12, 5.12, 24.12, 9.42}}};
Vector bad_times(1);
bad_times << 1;
ASSERT_THROW(ConstructCubicSpline(positions, bad_times, bc_type),
Expand All @@ -167,8 +167,8 @@ TEST_F(CubicSpline, BadTimes) {

TEST_F(CubicSpline, BadBoundaryConditions) {
BoundaryCondFull bc_type{
BoundaryCond{2, {1.52, 7.21, 9.31, -1.53, 7.54}},
BoundaryCond{2, {-5.12, 8.21, 9.12, 5.12, 24.12, 9.42}}};
BoundaryCond{2, std::vector<value_type>{1.52, 7.21, 9.31, -1.53, 7.54}},
BoundaryCond{2, std::vector<value_type>{-5.12, 8.21, 9.12, 5.12, 24.12, 9.42}}};
ASSERT_THROW(ConstructCubicSpline(positions, times, bc_type),
std::runtime_error);

Expand All @@ -177,8 +177,8 @@ TEST_F(CubicSpline, BadBoundaryConditions) {
ASSERT_THROW(ConstructCubicSpline(positions, times, bc_type),
std::runtime_error);

bc_type = {BoundaryCond{3, {1.52, 7.21, 9.31, 2.52, 4.41, 5.54}},
BoundaryCond{3, {-5.12, 8.21, 9.12, -1.32, 3.53, 9.21}}};
bc_type = {BoundaryCond{3, std::vector<value_type>{1.52, 7.21, 9.31, 2.52, 4.41, 5.54}},
BoundaryCond{3, std::vector<value_type>{-5.12, 8.21, 9.12, -1.32, 3.53, 9.21}}};
ASSERT_THROW(ConstructCubicSpline(positions, times, bc_type),
std::runtime_error);
}
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20 changes: 19 additions & 1 deletion cpp/tests/test_solver.cpp
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Expand Up @@ -288,7 +288,6 @@ TEST(SeidelFunctions_1D, infeasible_due_to_incoherent_bounds) {
A << seidel::TINY / 2, 1;
sol = seidel::solve_lp1d(v, A);
EXPECT_FALSE(sol.feasible);

}

TEST(SeidelFunctions_1D, feasible_with_a_and_b_small) {
Expand Down Expand Up @@ -346,6 +345,25 @@ TEST(SeidelFunctions_1D, feasible_but_with_tolerated_constraint_violation) {

auto sol = seidel::solve_lp1d(v, A);
EXPECT_TRUE(sol.feasible);

{
// Issue #244
v = { -65.960772491990838, 0.0 };
A.resize(8, 2);
A <<
-65.9607724919908, -0.0151605259038078,
65.9607724919908, -0.00782362866419491,
0.468679477393087, 5.6843418860808e-14,
-0.468679477393087, -1000,
0, -std::numeric_limits<double>::infinity(),
0, -std::numeric_limits<double>::infinity(),
-65.9607724919908, 0,
65.9607724919908, -0.0229841545680027;

auto sol = seidel::solve_lp1d(v, A);
EXPECT_TRUE(sol.feasible);
EXPECT_NEAR(0, sol.optvar, TOPPRA_ABS_TOL);
}
}

TEST(SeidelFunctions, seidel_2d) {
Expand Down
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