Improve math::AreAutoDiffVecXdEqual #19393
Merged
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
Previously, it was possible that ExtractGradient (and therefore AreAutoDiffVecXdEqual) would throw, when this method should simply return false. Now we handle the case where the elements of the vector could have a different number of derivative values. This version should also be slightly faster. N.B. This came up for me because I had two different constraints setting values in a shared Context, but one was calling SetPositions(), and the other was calling SetPositionsAndVelocities().
RussTedrake
commented
May 11, 2023
There was a problem hiding this comment.
+@sammy-tri for both reviews, please?
Reviewable status: LGTM missing from assignee sammy-tri(platform), needs at least two assigned reviewers, missing label for release notes (waiting on @RussTedrake and @sammy-tri)
RussTedrake
added
release notes: fix
sammy-tri
reviewed
May 11, 2023
There was a problem hiding this comment.
Reviewed 2 of 2 files at r1, all commit messages.
Reviewable status:complete! all discussions resolved, LGTM from assignee sammy-tri(platform)
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Outdated suggestions cannot be applied.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.
Previously, it was possible that ExtractGradient (and therefore AreAutoDiffVecXdEqual) would throw, when this method should simply return false. Now we handle the case where the elements of the vector could have a different number of derivative values.
This version should also be slightly faster.
N.B. This came up for me because I had two different constraints setting values in a shared Context, but one was calling SetPositions(), and the other was calling SetPositionsAndVelocities().
This change is