Fix for bug in linear constraint gradient. (#161)

Summary: It turned out we were missing a weight, which I noticed when I changed the weight to be something other than 1. Reviewed By: jeongseok-meta Differential Revision: D66893638
facebookincubator · Dec 9, 2024 · bf77bad · bf77bad
1 parent 15d2a51
commit bf77bad
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/momentum/character_solver/limit_error_function.cpp b/momentum/character_solver/limit_error_function.cpp
@@ -239,10 +239,10 @@ double LimitErrorFunctionT<T>::getGradient(
           error += residual * residual * limit.weight * tWeight;
 
           if (this->enabledParameters_.test(data.targetIndex)) {
-            gradient[data.targetIndex] += T(2) * residual * data.scale * tWeight;
+            gradient[data.targetIndex] += T(2) * residual * data.scale * limit.weight * tWeight;
           }
           if (this->enabledParameters_.test(data.referenceIndex)) {
-            gradient[data.referenceIndex] -= T(2) * residual * tWeight;
+            gradient[data.referenceIndex] -= T(2) * residual * limit.weight * tWeight;
           }
         }
         break;

diff --git a/momentum/test/character_solver/error_functions_test.cpp b/momentum/test/character_solver/error_functions_test.cpp
@@ -106,7 +106,7 @@ TYPED_TEST(Momentum_ErrorFunctionsTest, LimitError_GradientsAndJacobians) {
     SCOPED_TRACE("Limit LinearTest");
     ParameterLimit limit;
     limit.type = Linear;
-    limit.weight = 1.0;
+    limit.weight = 1.5;
     limit.data.linear.referenceIndex = 0;
     limit.data.linear.targetIndex = 5;
     limit.data.linear.scale = 0.25;
@@ -134,7 +134,7 @@ TYPED_TEST(Momentum_ErrorFunctionsTest, LimitError_GradientsAndJacobians) {
     limit.type = LimitType::Linear;
     limit.data.linear.referenceIndex = 0;
     limit.data.linear.targetIndex = 5;
-    limit.weight = 1.0f;
+    limit.weight = 0.5f;
 
     {
       ParameterLimit cur = limit;