fixed index-out-of-bounds bug in rank computation.

airballking · Jan 29, 2014 · 3578b65 · 3578b65
1 parent b3a9c59
commit 3578b65
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/feature_constraints/src/Analysis.cpp b/feature_constraints/src/Analysis.cpp
@@ -85,7 +85,7 @@ int Analysis::rank(const std::vector<Constraint> &constraints,
     analyzeH(Ht_, J_, lambda_, eps);
 
     int rank=0;
-    for(int i=0; i < size; i++)
+    for(int i=0; i < size && i < 6; i++)
       if(lambda_(i) > eps)
         rank++;
 

diff --git a/feature_constraints/src/rank_test_service.cpp b/feature_constraints/src/rank_test_service.cpp
@@ -9,7 +9,7 @@
 bool service_callback(constraint_msgs::ConstraintsRank::Request& request, constraint_msgs::ConstraintsRank::Response&  answer)
 {
   Analysis analyzer(request.constraints.size());
-  answer.rank = analyzer.rank(fromMsg(request.constraints), 0.01, 1e-6);
+  answer.rank = analyzer.rank(fromMsg(request.constraints), 0.0001, 1e-6);
   return true;
 }