more eficient primal feasibility

Author: fabinsch

include/proxsuite/proxqp/dense/utils.hpp

@@ -227,6 +227,11 @@ global_primal_residual_infeasibility(VectorViewMut<T> ATdy,
   // u^T [dz]_+ - l^T[-dz]_+ <= -eps_p_inf ||unscaled(dz)||
   //
   // the variables in entry are changed in place
+
+  bool res = infty_norm(dy.to_eigen()) != 0 && infty_norm(dz.to_eigen()) != 0;
+  if (!res) {
+    return res;
+  }
   ruiz.unscale_dual_residual_in_place(ATdy);
   ruiz.unscale_dual_residual_in_place(CTdz);
   T eq_inf = dy.to_eigen().dot(qpwork.b_scaled);
@@ -238,9 +243,8 @@ global_primal_residual_infeasibility(VectorViewMut<T> ATdy,
   T bound_y = qpsettings.eps_primal_inf * infty_norm(dy.to_eigen());
   T bound_z = qpsettings.eps_primal_inf * infty_norm(dz.to_eigen());
 
-  bool res = infty_norm(ATdy.to_eigen()) <= bound_y && eq_inf <= -bound_y &&
-             infty_norm(CTdz.to_eigen()) <= bound_z && in_inf <= -bound_z &&
-             infty_norm(dy.to_eigen()) != 0 && infty_norm(dz.to_eigen()) != 0;
+  res = infty_norm(ATdy.to_eigen()) <= bound_y && eq_inf <= -bound_y &&
+        infty_norm(CTdz.to_eigen()) <= bound_z && in_inf <= -bound_z;
   return res;
 }
 

include/proxsuite/proxqp/sparse/utils.hpp

@@ -487,6 +487,11 @@ global_primal_residual_infeasibility(VectorViewMut<T> ATdy,
   // u^T [dz]_+ - l^T[-dz]_+ <= -eps_p_inf ||unscaled(dz)||
   //
   // the variables in entry are changed in place
+
+  bool res = infty_norm(dy.to_eigen()) != 0 && infty_norm(dz.to_eigen()) != 0;
+  if (!res) {
+    return res;
+  }
   ruiz.unscale_dual_residual_in_place(ATdy);
   ruiz.unscale_dual_residual_in_place(CTdz);
   T eq_inf = dy.to_eigen().dot(qp_scaled.b.to_eigen());
@@ -498,9 +503,8 @@ global_primal_residual_infeasibility(VectorViewMut<T> ATdy,
   T bound_y = qpsettings.eps_primal_inf * infty_norm(dy.to_eigen());
   T bound_z = qpsettings.eps_primal_inf * infty_norm(dz.to_eigen());
 
-  bool res = infty_norm(ATdy.to_eigen()) <= bound_y && eq_inf <= -bound_y &&
-             infty_norm(CTdz.to_eigen()) <= bound_z && in_inf <= -bound_z &&
-             infty_norm(dy.to_eigen()) != 0 && infty_norm(dz.to_eigen()) != 0;
+  res = infty_norm(ATdy.to_eigen()) <= bound_y && eq_inf <= -bound_y &&
+        infty_norm(CTdz.to_eigen()) <= bound_z && in_inf <= -bound_z;
   return res;
 }
 /*!