added m_isValid = 'true' in 'setFeasibleRegion()' + minor changes

ami-iit · Jan 17, 2025 · 325c79a · 325c79a
1 parent a7a394f
commit 325c79a
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Showing 3 changed files with 4 additions and 3 deletions.
diff --git a/src/TSID/include/BipedalLocomotion/TSID/VariableFeasibleRegionTask.h b/src/TSID/include/BipedalLocomotion/TSID/VariableFeasibleRegionTask.h
@@ -94,4 +94,4 @@ class VariableFeasibleRegionTask : public TSIDLinearTask
 } // namespace TSID
 } // namespace BipedalLocomotion
 
-#endif // BIPEDAL_LOCOMOTION_TSID_VARIABLE_LINEAR_TASK_H
+#endif // BIPEDAL_LOCOMOTION_TSID_VARIABLE_LINEAR_TASK_H
diff --git a/src/TSID/src/VariableFeasibleRegionTask.cpp b/src/TSID/src/VariableFeasibleRegionTask.cpp
@@ -148,8 +148,8 @@ bool VariableFeasibleRegionTask::setFeasibleRegion(
     Eigen::Ref<const Eigen::VectorXd> l, 
     Eigen::Ref<const Eigen::VectorXd> u)
 {
+    m_isValid = false;
     constexpr auto errorPrefix = "[VariableFeasibleRegionTask::setFeasibleRegion]";
-
     // check if the size of the matrices is correct
     if (C.cols() != m_variableSize)
     {
@@ -182,6 +182,7 @@ bool VariableFeasibleRegionTask::setFeasibleRegion(
                      errorPrefix);
         return false;
     }
+    m_isValid = true;
 
     // resize the matrices
     m_A.resize(2 * C.rows(), m_NumberOfVariables);

diff --git a/src/TSID/tests/VariableFeasibleRegionTaskTest.cpp b/src/TSID/tests/VariableFeasibleRegionTaskTest.cpp
@@ -139,7 +139,7 @@ TEST_CASE("Variable Feasible Region Task")
         Eigen::Ref<const Eigen::MatrixXd> A = task2.getA();
         Eigen::Ref<const Eigen::VectorXd> B = task2.getB();
 
-        // A == expectedT imply S == identity
+        // A == expectedT implies S == identity
         Eigen::MatrixXd expectedT(2*anyDimension, variable2ElementSize);
         expectedT << C, -C;
         REQUIRE(A.isApprox(expectedT));