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borglab / gpmp2

Gaussian Process Motion Planner 2
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Use enum for DH parameters #23

Closed varunagrawal closed 1 year ago

varunagrawal commented 1 year ago

Use an enum type for Denavit-Hartenberg parameters.

mattking-smith commented 1 year ago

Although the gpmp2.Parameterization = MODIFIED_DH is written correctly and works in C++, I am getting segmentation faults when trying to deploy this code in MATLAB.

mattking-smith commented 1 year ago

Calling arm.parameterization() results in the MATLAB error:

Error using gpmp2_wrapper
Exception from gtsam:
Cannot call the constructor of 'gpmp2.Parameterization' outside of its enumeration block.

which is the same error generated if I were to incorrectly call gpmp2.Parameterization:

Error using gpmp2.Parameterization
Cannot call the constructor of 'gpmp2.Parameterization' outside of its enumeration block.
varunagrawal commented 1 year ago

@mattking-smith we need to add unit tests for matlab. It is hard to isolate the issue based on running a whole script. Can you please take point on this?