fixed bug in constraint conversion for empty constraint vector

NSolver/AugmentedLagrangianMethod.hh

@@ -238,7 +238,8 @@ public:
 
   int solve_experimental(NProblemInterface* _problem, std::vector<NConstraintInterface*>& _constraints, std::vector<LinearConstraint>& _linear_constraints)
   {
-    DEB_time_func_def;
+    DEB_enter_func;
+//    DEB_time_func_def;
     converged_ = false;
 
     DEB_line_if(!silent_,2, "*** optimize via AugmentedLagrangianMethod with " << _problem->n_unknowns() << " unknowns and " << _constraints.size() << " constraints");

NSolver/LinearConstraintConverter.hh

@@ -70,11 +70,11 @@ public:
   //  }
 
   template <class SMatrixT, class VectorT>
-  static void nsolver_to_eigen( std::vector<LinearConstraint>& _constraints, SMatrixT& _A, VectorT& _b)
+  static void nsolver_to_eigen( std::vector<LinearConstraint>& _constraints, SMatrixT& _A, VectorT& _b, int _n_variables = 0)
   {
     if(_constraints.empty())
     {
-      _A.resize(0,0);
+      _A.resize(0,_n_variables);
       _b.resize(0);
       return;
     }

NSolver/TruncatedNewtonPCG.hh

@@ -1145,7 +1145,9 @@ public:
   // It is also required that the constraints are linearly independent
   int solve_projected_normal_equation( NProblemInterface* _problem, const SMatrixD& _A, const VectorD& _b )
   {
-    DEB_time_func_def;
+//    DEB_time_func_def;
+    DEB_enter_func;
+
     converged_ = false;
 
     // number of unknowns
@@ -1396,7 +1398,7 @@ public:
     // convert constraints
     SMatrixD A;
     VectorD b;
-    LinearConstraintConverter::nsolver_to_eigen(_constraints, A, b);
+    LinearConstraintConverter::nsolver_to_eigen(_constraints, A, b, _problem->n_unknowns());
 
     return solve(_problem, A, b);
   }
@@ -1406,7 +1408,7 @@ public:
     // convert constraints
     SMatrixD A;
     VectorD b;
-    LinearConstraintConverter::nsolver_to_eigen(_constraints, A, b);
+    LinearConstraintConverter::nsolver_to_eigen(_constraints, A, b, _problem->n_unknowns());
 
     return solve_experimental(_problem, A, b);
   }
@@ -1416,7 +1418,7 @@ public:
     // convert constraints
     SMatrixD A;
     VectorD b;
-    LinearConstraintConverter::nsolver_to_eigen(_constraints, A, b);
+    LinearConstraintConverter::nsolver_to_eigen(_constraints, A, b, _problem->n_unknowns());
 
     return solve_reduced_system(_problem, A, b);
   }
@@ -1426,7 +1428,7 @@ public:
     // convert constraints
     SMatrixD A;
     VectorD b;
-    LinearConstraintConverter::nsolver_to_eigen(_constraints, A, b);
+    LinearConstraintConverter::nsolver_to_eigen(_constraints, A, b, _problem->n_unknowns());
 
     return solve_reduced_system_EigenCG(_problem, A, b);
   }
@@ -1436,7 +1438,7 @@ public:
     // convert constraints
     SMatrixD A;
     VectorD b;
-    LinearConstraintConverter::nsolver_to_eigen(_constraints, A, b);
+    LinearConstraintConverter::nsolver_to_eigen(_constraints, A, b, _problem->n_unknowns());
 
     return solve_projected_normal_equation(_problem, A, b);
   }