Add DRAKE_ASSERT statements to ensure programs being solved in parall…

…el are actually threadsafe.
RobotLocomotion · Nov 21, 2024 · f1be911 · f1be911
1 parent 1f9b86b
commit f1be911
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diff --git a/geometry/optimization/convex_set.cc b/geometry/optimization/convex_set.cc
@@ -120,6 +120,7 @@ bool IsBoundedParallel(const ConvexSet& s, Parallelism parallelism) {
   std::vector<MathematicalProgram> progs(parallelism.num_threads());
   for (int i = 0; i < ssize(progs); ++i) {
     ConstructEmptyBoundednessProgram(&(progs[i]), s);
+    DRAKE_ASSERT(progs[i].IsThreadSafe());
   }
 
   // Pre-allocate empty MathematicalProgramResults for each thread.

diff --git a/geometry/optimization/graph_of_convex_sets.cc b/geometry/optimization/graph_of_convex_sets.cc
@@ -854,6 +854,7 @@ std::set<EdgeId> GraphOfConvexSets::PreprocessShortestPath(
       EdgeId edge_id = idx_to_edge_id.at(i);
       progs.emplace_back(ConstructPreprocessingProgram(
           edge_id, incoming_edges, outgoing_edges, source_id, target_id));
+      DRAKE_ASSERT(progs.back()->IsThreadSafe());
     }
 
     // Check if edge e = (u,v) could be on a path from start to goal.