JacobiSVD error

[VictorLamoine]

We are writing a new version of our Bezier project that includes a rviz_visual_tools object to publish many useful things.

I get this strange error when running our code:

bezier_application: /usr/include/eigen3/Eigen/src/SVD/JacobiSVD.h:632: const MatrixVType& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::matrixV() const [with _MatrixType = Eigen::Matrix<double, 3, 3>; int QRPreconditioner = 2; Eigen::JacobiSVD<MatrixType, QRPreconditioner>::MatrixVType = Eigen::Matrix<double, 3, 3>; typename _MatrixType::Scalar = double]: Assertion `computeV() && "This JacobiSVD decomposition didn't compute V. Did you ask for it?"' failed.

• rviz_visual_tools pointer member in abstract class
• pointer init in abstract class constructor
• concrete inherited class constructor calls base class constructor
• rviz_visual_tools usage - if un-commeted; crash above.

Pointers / ideas are welcome, I'm not sure if the problem lays in rviz_visual_tools or our package. I'll try to reduce this to a minimal example.

[davetcoleman]

Hmmm not sure why you'd get a Jacobian error - I'm not really using those. I reviewed it all just now and nothing jumped out.

Just fyi I did a big cleanup yesterday - I'm jumping on the chance to break a little bit of API before I release Kinetic. Nothing major in there except I unified the scaling of enum sizes (i.e. SMALL, MEDIUM, LARGE, etc)

If you get a min example I can take a look again

[KevinBollore]

Hi all! It works on my machine. I've made some tests with @VictorLamoine 's code, no JacobiSVD error occurs.

[VictorLamoine]

Such a dumb error!!! There's no problem on rviz_visual_tools... I'm trying to copy the first element of an empty vector!

https://github.com/InstitutMaupertuis/bezier/blob/indigo-devel-experimental/bezier_application/src/bezier_application.cpp#L119

I thought it came from rviz_visual_tools because of the specific logic I had to use in order to test. Sorry for the waste of time :flushed:

Weird thing is this does NOT crash on Kevin machine!!