Fix Bug Where Infeasible HPolyhedron with Few Constraints is Tagged as Unbounded

RobotLocomotion / drake

Model-based design and verification for robotics.

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Fix Bug Where Infeasible HPolyhedron with Few Constraints is Tagged as Unbounded #22117

Closed cohnt closed 2 weeks ago

cohnt commented 2 weeks ago

If an HPolyhedron has fewer inequalities than the dimension of the ambient space, it's generally unbounded. The only exception to this case is when a subset of the inequalities are mutually exclusive; then the HPolyhedron is empty, and hence, bounded.

This change is

sadraddini commented 2 weeks ago

+@rpoyner-tri for platform review, please.

@cohnt Can you remove the "do not merge" label? Is there anything holding you from declaring this as ready to merge?