fix bug in dual feasibility check. We want dual variables < 0.

2014-12-23 16:14:50 -05:00 · 2014-12-23 16:14:50 -05:00 · 3653e93338
parent 121feb2281
commit 3653e93338
1 changed files with 2 additions and 1 deletions
--- a/gtsam_unstable/nonlinear/LCNLPSolver.cpp
+++ b/gtsam_unstable/nonlinear/LCNLPSolver.cpp
@ -40,8 +40,9 @@ bool LCNLPSolver::isDualFeasible(const VectorValues& duals) const {
    Key dualKey = inequality->dualKey();
    if (!duals.exists(dualKey)) continue; // should be inactive constraint!
    double dual = duals.at(dualKey)[0];   // because we only support single-valued inequalities
-    if (dual < 0.0)
+    if (dual > 0.0) {   // See the explanation in QPSolver::identifyLeavingConstraint, we want dual < 0 ?
      return false;
+    }
  }
  return true;
 }