Merge pull request #25 from lassepe/fix/linearsolve_fail_handling

Handle failure of linear solve
CLeARoboticsLab · Dec 30, 2024 · 30ee358 · 30ee358
2 parents 164f07f + 7108a01
commit 30ee358
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diff --git a/Project.toml b/Project.toml
@@ -11,6 +11,7 @@ FiniteDiff = "6a86dc24-6348-571c-b903-95158fe2bd41"
 ForwardDiff = "f6369f11-7733-5829-9624-2563aa707210"
 LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 LinearSolve = "7ed4a6bd-45f5-4d41-b270-4a48e9bafcae"
+SciMLBase = "0bca4576-84f4-4d90-8ffe-ffa030f20462"
 SparseArrays = "2f01184e-e22b-5df5-ae63-d93ebab69eaf"
 SymbolicTracingUtils = "77ddf47f-b2ab-4ded-95ee-54f4fa148129"
 TrajectoryGamesBase = "ac1ac542-73eb-4349-ae1b-660ab3609574"
@@ -24,6 +25,7 @@ FiniteDiff = "2.26.2"
 ForwardDiff = "0.10.38"
 LinearAlgebra = "1.11.0"
 LinearSolve = "2.38.0"
+SciMLBase = "2.70.0"
 SparseArrays = "1.11.0"
 SymbolicTracingUtils = "0.1.1"
 TrajectoryGamesBase = "0.3.10"

diff --git a/src/MixedComplementarityProblems.jl b/src/MixedComplementarityProblems.jl
@@ -6,6 +6,7 @@ using BlockArrays: blocks, blocksizes
 using TrajectoryGamesBase: to_blockvector
 using SymbolicTracingUtils: SymbolicTracingUtils as SymbolicTracingUtils
 using LinearSolve: LinearProblem, init, solve!, KrylovJL_GMRES
+using SciMLBase: SciMLBase
 
 include("mcp.jl")
 include("solver.jl")

diff --git a/src/solver.jl b/src/solver.jl
@@ -80,6 +80,12 @@ function solve(
             linsolve.A = ∇F + tol * I
             linsolve.b = -F
             solution = solve!(linsolve)
+            if !SciMLBase.successful_retcode(solution)
+                verbose && @warn "Linear solve failed. Exiting prematurely."
+                status = :failed
+                break
+            end
+
             δz .= solution.u
 
             # Fraction to the boundary linesearch.