make cost termination in cspace free polytope bilinear alternation a …

…relative quantity (RobotLocomotion#18676)
mqnc · Jan 27, 2023 · a218b98 · a218b98
1 parent 2d5a1bd
commit a218b98
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/geometry/optimization/dev/cspace_free_polytope.cc b/geometry/optimization/dev/cspace_free_polytope.cc
@@ -1578,7 +1578,7 @@ CspaceFreePolytope::SearchWithBilinearAlternation(
       ellipsoid_Q = options.ellipsoid_scaling * (ellipsoid.A().inverse());
       const double cost = ellipsoid_Q.determinant();
       drake::log()->info("Iteration {}: det(Q)={}", iter, cost);
-      if (cost - prev_cost < options.convergence_tol) {
+      if ((cost - prev_cost)/prev_cost < options.convergence_tol) {
         break;
       } else {
         prev_cost = cost;