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ADVRHumanoids / CartesianInterface

Package for generic cartesian control of floating base robots. It includes a ROS-based front end, as well as a programmatic API that can be used inside a real-time loop.
GNU General Public License v3.0
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Wrong Initialization of EigenVector7d #9

Closed EnricoMingo closed 6 years ago

EnricoMingo commented 6 years ago

There are two wrong initialization of couple of EigenVector7d. One is in line 282:

__otg_maxacc << linear, linear, linear, angular/4.0, angular/4.0, angular/4.0;

and one in line 293:

__otg_maxvel << linear, linear, linear, angular/2.0, angular/2.0, angular/2.0;

both in CartesianInterfaceImpl.cpp. These causes error during execution if not compiled in RelWithDebInfo. These vectors are initialized with six elements while should be 7 (I suppose last 4 are the quaternion but I am not sure what is the right value for the missing element).

alaurenzi commented 6 years ago

Fixed in latest devel e24f31144509953618ba1120b1d CI running in debug mode && clean valgrind output