Fix Bug

irsim/lib/handler/geometry_handler.py

@@ -60,6 +60,8 @@ def get_init_Gh(self):
         """
         Generate initial G and h for convex object.
 
+        init_vertices: [[x1, y1], [x2, y2]....    [[x1, y1]]]; [x1, y1] will repeat twice
+
         Returns:
             tuple: G matrix, h vector
         """
@@ -72,10 +74,10 @@ def get_init_Gh(self):
 
         elif self.name == "polygon" or self.name == "rectangle":
 
-            convex_flag, _ = is_convex_and_ordered(self.init_vertices)
+            convex_flag, _ = is_convex_and_ordered(self.init_vertices[:, :-1])
 
             if convex_flag:
-                G, h = gen_inequal_from_vertex(self.init_vertices)
+                G, h = gen_inequal_from_vertex(self.init_vertices[:, :-1])
                 cone_type = "Rpositive"
             else:
                 G, h, cone_type = None, None, None
@@ -102,6 +104,10 @@ def vertices(self):
 
     @property
     def init_vertices(self):
+        '''
+        return init_vertices: [[x1, y1], [x2, y2]....    [[x1, y1]]]; [x1, y1] will repeat twice
+        '''
+
         if self.name == "linestring":
             x = self._init_geometry.xy[0]
             y = self._init_geometry.xy[1]