geometry: standardize is_in() semantics and optimize H-Polytope boundary checks#451
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Divinesoumyadip wants to merge 1 commit intoGeomScale:developfrom
Open
geometry: standardize is_in() semantics and optimize H-Polytope boundary checks#451Divinesoumyadip wants to merge 1 commit intoGeomScale:developfrom
Divinesoumyadip wants to merge 1 commit intoGeomScale:developfrom
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Mohit-Lakra
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Feb 21, 2026
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Mohit-Lakra
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Found broken callers in hpolytope.h (Need little fixes)
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| int is_in(Point const& p, NT tol=NT(0)) const { | ||
| Eigen::Matrix<NT, Eigen::Dynamic, 1> res = A * p.getCoefficients() - b; | ||
| NT max_val = res.maxCoeff(); | ||
| if (max_val > tol) return 1; | ||
| return (max_val >= -tol) ? 0 : -1; |
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This breaks ComputeInnerBall()
if (is_in(Point(...)) == 0 || ...)
Old: == 0 meant outside (correct)
New: == 0 means boundary (wrong - accepts invalid inner balls)
Also,
The old loop had early exit on first violation. This always computes full A*p and allocates temp vector.
| if (g(p) > NT(-tol)) return 0; | ||
| int is_in(Point const& p, NT tol=NT(0)) const { | ||
| NT max_val = -std::numeric_limits<NT>::max(); | ||
| for (const auto& g : gs) { |
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Nice - adding const and using const auto& are good improvements.
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This PR standardizes the is_in return contract across Ball, ConvexBody, and HPolytope to return -1 for inside the body, 0 for the boundary within tolerance, and 1 for outside the body.
Key optimization includes replacing manual loops in HPolytope::is_in with Eigen's .maxCoeff() for faster violation detection in Ax <= b constraints. This ensures consistency across the library and prevents ambiguity in sampling algorithms.
These changes also implement a unified tolerance-based comparison to handle floating-point precision issues specifically at the geometric boundaries.