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Flexible Collision Library
https://flexible-collision-library.github.io/
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Error: "too many iterations in Jacobi transform" #190

Open davetcoleman opened 7 years ago

davetcoleman commented 7 years ago

I get this error when using FCL with MoveIt! on rare occasion, and I haven't been able to understand why. From matrix_3f.h in the FCL code I see the error message:

std::cerr << "eigen: too many iterations in Jacobi transform." << std::endl;

Any hints would be appreciated in how to avoid this from segfaulting my program. Note I'm using ROS Kinetic, thus FCL 0.5

jmirabel commented 7 years ago

Could you give the input matrix generating the error ? It would be helpful to see if the matrix actually fits the requirements of the Jacobi algorithm.

davetcoleman commented 7 years ago

@jmirabel thanks for following up. i eventually realized I was creating a MoveIt! RobotState will null values, due to another bug, that was getting converted into a FCL robot and the only error I was getting was this one. if i see this problem again, i can open a pull request that would improve FCL's warning by testing if null values might be the case and telling the user