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resolves unit test errors in solver directory
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RussTedrake committed Jan 20, 2014
1 parent e51e1d6 commit 3703be1
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Showing 4 changed files with 29 additions and 3 deletions.
21 changes: 21 additions & 0 deletions .gitignore
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Expand Up @@ -95,3 +95,24 @@ doc/urdf
doc/ik.log
doc/ik.pdf
doc/rigidbody.tex
solvers/test/failed_paths
solvers/test/finite_solutions
solvers/test/input.bert
solvers/test/main_data
solvers/test/midpath_data
solvers/test/nonsingular_solutions
solvers/test/output
solvers/test/output_1
solvers/test/output_2
solvers/test/output_3
solvers/test/output_4
solvers/test/output_5
solvers/test/output_6
solvers/test/output_7
solvers/test/raw_data
solvers/test/raw_solutions
solvers/test/real_finite_solutions
solvers/test/regenSummary
solvers/test/singular_solutions
solvers/test/startRegen_0
solvers/test/startRegen_1
2 changes: 1 addition & 1 deletion CMakeLists.txt
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Expand Up @@ -61,7 +61,7 @@ if (LCM_FOUND)
# annoyingly, libbot does not define a classpath variable. there might be a cleaner way to do this
execute_process(COMMAND pkg-config --variable=prefix bot2-lcmgl-client OUTPUT_VARIABLE LCMGL_BUILD_DIR)
if (NOT LCMGL_BUILD_DIR)
message(WARNING "\n\n----- ERROR: bot2-lcmgl not found")
message(WARNING "\n\n----- WARNING: bot2-lcmgl not found")
else ()
string(STRIP ${LCMGL_BUILD_DIR} LCMGL_BUILD_DIR)
find_jar(LCMGL_JAR_FILE bot2-lcmgl
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7 changes: 6 additions & 1 deletion solvers/@PolynomialProgram/gloptipoly.m
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Expand Up @@ -37,12 +37,17 @@
relaxation_order = 1; % todo: make this an option
while (exitflag == 0)
try
prog = msdp(min(objective),constraints,relaxation_order);
if isempty(constraints)
prog = msdp(min(objective),relaxation_order);
else
prog = msdp(min(objective),constraints,relaxation_order);
end
catch ex
if strcmp(ex.message,'Increase relaxation order')
relaxation_order = relaxation_order+1
continue;
end
rethrow(ex);
end

[exitflag,objval] = msol(prog);
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2 changes: 1 addition & 1 deletion util/checkDependency.m
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Expand Up @@ -177,7 +177,7 @@
case 'gloptipoly3'
conf.gloptipoly3_enabled = logical(exist('gloptipolyversion','file'));
if (~conf.gloptipoly3_enabled)
conf.gloptipoly3_enabled = pod_pkg_conf('gloptipoly3');
conf.gloptipoly3_enabled = pod_pkg_config('gloptipoly3');
end

if (~conf.gloptipoly3_enabled)
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