Fix ParseConstraint for cases with infs in rhs or lhs. #19903
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RussTedrake
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release notes: fix
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@drake-jenkins-bot mac-arm-ventura-clang-bazel-experimental-release please (#19335 known flake) |
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Reviewed 2 of 2 files at r1.
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solvers/create_constraint.cc line 367 at r1 (raw file):
// -∞ <= lhs - rhs <= 0 v(k) = lhs - rhs; lb(k) = -std::numeric_limits<double>::infinity();
BTW, use -kInf here?
solvers/create_constraint.cc line 398 at r1 (raw file):
v(k) = lhs - rhs; lb(k) = 0.0; ub(k) = std::numeric_limits<double>::infinity();
Ditto.
Previously, cases like ``` b = [0.12, inf] ParseConstraint(x <= b) ``` would fail with ``` abort: Failure at solvers/create_constraint.cc:88 in ParseConstraint(): condition '!std::isnan(new_lb(i))' failed. ``` due to an `inf - inf` situation. Now we handle those cases properly.
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solvers/create_constraint.cc line 398 at r1 (raw file):
Previously, hongkai-dai (Hongkai Dai) wrote…
Ditto.
Done.
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Reviewed 1 of 1 files at r2.
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Reviewed 1 of 2 files at r1, 1 of 1 files at r2, all commit messages.
Reviewable status:complete! all discussions resolved, LGTM from assignees rpoyner-tri(platform),hongkai-dai
Previously, cases like
would fail with
due to an
inf - infsituation. Now we handle those cases properly.+@hongkai-dai for feature review, please.
This change is