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ADVRHumanoids / estimation_utils

A collection of estimation utilities
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Segmentation fault with ForceEstimationMomentumBased #2

Open MarcoMagriDev opened 9 months ago

MarcoMagriDev commented 9 months ago

Hi,

After switching from ForceEstimation to ForceEstimationMomentumBased in one of my plugins xbot2-core crashes on start reporting segmentation fault.

After a bit of debugging the issue seems to be related with the call of getResiduals at https://github.com/ADVRHumanoids/estimation_utils/blob/master/src/payload/ForceEstimation.cpp#L241. By simply adding res = _y; just before the above mentioned line the error disappear. This for sure is not the most elegant solution to the encountered problem but it works.

Have you ever had a similar problem with this class? Have you in mind a more elegant solution to solve the issue?

Thanks, Marco