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Prevent IrisInConfigurationSpaceFromCliqueCover from crashing the whole program if IrisInConfigurationSpace fails #21376

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Prevent IrisInConfigurationSpaceFromCliqueCover from crashing the whole program if IrisInConfigurationSpace fails #21376

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22 changes: 18 additions & 4 deletions planning/iris/iris_from_clique_cover.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -234,10 +234,24 @@ std::queue<HPolyhedron> IrisWorker(
checker.UpdatePositions(iris_options.starting_ellipse->center(),
builder_id);
log()->debug("Iris builder thread {} is constructing a set.", builder_id);
ret.emplace(IrisInConfigurationSpace(
checker.plant(), checker.plant_context(builder_id), iris_options));
log()->debug("Iris builder thread {} has constructed a set.", builder_id);

std::optional<HPolyhedron> iris_region{std::nullopt};
try {
iris_region.emplace(IrisInConfigurationSpace(
checker.plant(), checker.plant_context(builder_id), iris_options));
} catch (const std::logic_error& e) {
// IrisInConfigurationSpace can fail for a large variety of reasons. We do
// not want to lose all the regions and crash the whole program if it
// fails.
log()->warn(
"Iris builder thread {} failed to compute a set from a clique. This "
"clique is being skipped. This can happen if the convex hull of the "
"clique contains collisions. The exact error message is {}",
builder_id, e.what());
}
if (iris_region.has_value()) {
ret.push(*iris_region);
log()->debug("Iris builder thread {} has constructed a set.", builder_id);
}
current_clique = computed_cliques->pop();
}
log()->debug("Iris builder thread {} has completed.", builder_id);
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