fixed wrong scaling in removal of dependent linear constraints

NSolver/ConstraintTools.cc

@@ -113,23 +113,28 @@ remove_dependent_linear_constraints_only_linear_equality( std::vector<NConstrain
     double aij = A(i,j);
     if(std::abs(aij) <= _eps)
     {
-      // constraint is linear dependent
+//      std::cerr << "drop " << aij << "in row " << i << "and column " << j << std::endl;
+      // constraint is linearly dependent
       row_status[i] = 0;
-//      remove.push_back(i);
+      if(std::abs(A(i,n)) > _eps)
+        std::cerr << "Warning: found dependent constraint with nonzero rhs " << A(i,n) << std::endl;
     }
     else
     {
+//      std::cerr << "keep " << aij << "in row " << i << "and column " << j << std::endl;
+
       // constraint is linearly independent
       row_status[i] = 1;
       keep.push_back(i);
 
-      // normalize
-      gmm::scale(A.row(i), 1.0/aij);
-
       // update undecided constraints
       // copy col
       SVectorGMM col = Ac.col(j);
 
+      // copy row
+      SVectorGMM row;
+      gmm::copy( A.row(i), row);
+
       // iterate over column
       typename gmm::linalg_traits<SVectorGMM>::const_iterator c_it   = gmm::vect_const_begin(col);
       typename gmm::linalg_traits<SVectorGMM>::const_iterator c_end  = gmm::vect_const_end(col);
@@ -141,8 +146,6 @@ remove_dependent_linear_constraints_only_linear_equality( std::vector<NConstrain
           int k = c_it.index();
 
           double s = -(*c_it)/aij;
-          SVectorGMM row;
-          gmm::copy( A.row(i), row);
           add_row_simultaneously( k, s, row, A, Ac, _eps);
           // make sure the eliminated entry is 0 on all other rows
           A( k, j) = 0;

NSolver/NewtonSolver.hh

@@ -187,6 +187,7 @@ protected:
 //      DEB_line(2, "-> re-try with regularized constraints...");
 
       std::cerr << "Eigen::SparseLU reported problem while factoring KKT system: " << lu_solver_.lastErrorMessage() << std::endl;
+
 //#if COMISO_SUITESPARSE_AVAILABLE
 //      std::cerr << "Eigen::SparseLU reported problem while factoring KKT system. " << std::endl;
 //#else