replace static variable falsely shared between contraints and costs

ethz-adrl · Jan 21, 2021 · 27451ce · 27451ce
1 parent a44204f
commit 27451ce
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Showing 2 changed files with 8 additions and 3 deletions.
diff --git a/ifopt_core/include/ifopt/composite.h b/ifopt_core/include/ifopt/composite.h
@@ -216,6 +216,9 @@ class Composite : public Component {
 private:
   ComponentVec components_;
   bool is_cost_;
+  // The number of variables for costs/constraint composites (not set for variables).
+  // Is initialized the first the GetJacobian() is called.
+  mutable size_t n_var = -1; 
 };
 
 

diff --git a/ifopt_core/src/composite.cc b/ifopt_core/src/composite.cc
@@ -162,11 +162,13 @@ Composite::SetVariables (const VectorXd& x)
 
 Composite::Jacobian
 Composite::GetJacobian () const
-{ // static: get number of variables only the first time this function is called,
+{ // set number of variables only the first time this function is called,
   // since number doesn't change during the optimization. Improves efficiency.
-  static int n_var = components_.empty() ? 0 : components_.front()->GetJacobian().cols();
-  Jacobian jacobian(GetRows(), n_var);
+  if (n_var == -1)
+    n_var = components_.empty() ? 0 : components_.front()->GetJacobian().cols();
 
+  Jacobian jacobian(GetRows(), n_var);
+
   if (n_var == 0) return jacobian;
 
   int row = 0;