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Allow PartialPermutation to accept empty vector #22229

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Allow PartialPermutation to accept empty vector #22229

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1 change: 1 addition & 0 deletions multibody/contact_solvers/sap/partial_permutation.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@ namespace internal {
PartialPermutation::PartialPermutation(std::vector<int> permutation)
: permutation_(std::move(permutation)) {
const int domain_size = permutation_.size();
if (domain_size == 0) return;
// Determine size of the permuted domain.
const int permuted_domain_size =
*std::max_element(permutation_.begin(), permutation_.end()) + 1;
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7 changes: 7 additions & 0 deletions multibody/contact_solvers/sap/test/partial_permutation_test.cc
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Expand Up @@ -19,6 +19,13 @@ GTEST_TEST(PartialPermutation, EmptyPermutation) {
EXPECT_EQ(p.permuted_domain_size(), 0);
}

GTEST_TEST(PartialPermutation, EmptyPermutationFromStdVector) {
std::vector<int> permutation;
PartialPermutation p(std::move(permutation));
EXPECT_EQ(p.domain_size(), 0);
EXPECT_EQ(p.permuted_domain_size(), 0);
}

// Creates a permutation of size 6 where none of the indexes participates and
// adds permuted indexes one at a time with push().
GTEST_TEST(PartialPermutation, PushElements) {
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