I don't think a dog belongs on either in the first place, but this is a battle I will never win.
I made the "no pets in the house" decision years ago (after growing up with dogs and cats in the house, and having cats with girlfriends in my younger days) and have never regretted it. When the kids came along it got tougher, and I allowed a few Betta fish (we were very successful, we had about 4 in a row that lived ~2 years each).
When my son hit high school, I relented and allowed him to get a pair of gerbils that he keeps in a large aquarium in his room. It turned out to be a very good thing for him, and they are minimally needy.
But animals roaming freely through the house has become totally disgusting to me, and your responsibility for their bodily needs and functions enslaves you to them in an ugly way.
PS - go to an upholstery shop and get them to cut you a large triangle of foam rubber to use as a ramp