From aff25dc1207793c6797f68deeeee1f86891ab9af Mon Sep 17 00:00:00 2001
From: Kevin Lewis <kevindlewis23@gmail.com>
Date: Mon, 1 Jul 2024 12:58:44 -0400
Subject: [PATCH] don't return infinite error results

---
 src/correctness.rs                  | 2 ++
 src/inverse_kinematics/auxiliary.rs | 8 ++++++--
 2 files changed, 8 insertions(+), 2 deletions(-)

diff --git a/src/correctness.rs b/src/correctness.rs
index 4db9925..9f46831 100644
--- a/src/correctness.rs
+++ b/src/correctness.rs
@@ -20,6 +20,8 @@ const TEST_ITERATIONS: usize = 1000;
 
 #[test]
 fn run_tests() {
+    // Seed fastrand
+    fastrand::seed(0);
     let setups: Vec<Box<dyn SetupDynamic>> = vec![
         Box::new(Subproblem6Setup::new()),
         Box::new(Subproblem5Setup::new()),
diff --git a/src/inverse_kinematics/auxiliary.rs b/src/inverse_kinematics/auxiliary.rs
index 5382a40..ad4a86b 100644
--- a/src/inverse_kinematics/auxiliary.rs
+++ b/src/inverse_kinematics/auxiliary.rs
@@ -152,7 +152,9 @@ pub fn search_1d<const N: usize, F: Fn(f64) -> Vector<f64, N> > (
         if j == max_evals.len() - 1 {
             let best_result =  last_results.iter()
                 .min_by(|x, y| x.2.partial_cmp(&y.2).unwrap()).unwrap();
-            results.push((best_result.0, best_result.1))
+            if best_result.2.is_finite() {
+                results.push((best_result.0, best_result.1));
+            }
         }
     }
     results
@@ -235,7 +237,9 @@ pub fn search_2d<const N: usize, F: Fn(f64, f64) -> Vector<f64, N>>(
         if j == max_evals.len() - 1 {
             let best_result =  last_results.iter()
                 .min_by(|x, y| x.3.partial_cmp(&y.3).unwrap()).unwrap();
-            results.push((best_result.0, best_result.1, best_result.2))
+            if (best_result.3.is_finite()) {
+                results.push((best_result.0, best_result.1, best_result.2));
+            }
         }
     }