Fix a Bug in GCS When Passing in a Trivially-Infeasible Upper Bound

RobotLocomotion / drake

Model-based design and verification for robotics.

https://drake.mit.edu

Other

3.35k stars 1.27k forks source link

Fix a Bug in GCS When Passing in a Trivially-Infeasible Upper Bound #22090

Closed cohnt closed 2 weeks ago

cohnt commented 3 weeks ago

There was a slight logic error, where we were checking the lower bound instead of the upper bound. The current test cases didn't cover it because they didn't make sure that code path was tested. This PR adds test cases to reveal the bug, and implements the fix.

This change is

cohnt commented 3 weeks ago

+@russtedrake mind taking this one? Hopefully it should be pretty quick, but I think it ought to merge before #22091.