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flexible-collision-library / fcl

Flexible Collision Library
https://flexible-collision-library.github.io/
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error occurred: Assertion `index != static_cast<std::size_t>(-1)' failed. #541

Open caozh502 opened 3 years ago

caozh502 commented 3 years ago

I created two CollisionObjects, one is a box with geometric properties, and the other is an octree converted from a point cloud. And I use distance() function to get the min_distance between them. When the program is running, sometimes the following error message will appear, and the program will terminate directly. I want to know how I should solve this error. Thanks!

typename NarrowPhaseSolver::S fcl::distance(const fcl::CollisionGeometry<typename NarrowPhaseSolver::S>*, fcl::Transform3<typename NarrowPhaseSolver::S>&, const fcl::CollisionGeometry<typename NarrowPhaseSolver::S>*, fcl::Transform3<typename NarrowPhaseSolver::S>&, const NarrowPhaseSolver*, const fcl::DistanceRequest<typename NarrowPhaseSolver::S>&, fcl::DistanceResult<typename NarrowPhaseSolver::S>&) [with NarrowPhaseSolver = fcl::detail::GJKSolver_indep<float>; typename NarrowPhaseSolver::S = float; typename NarrowPhaseSolver::S = float; fcl::Transform3<typename NarrowPhaseSolver::S> = Eigen::Transform<float, 3, 1>]: Assertion `index != static_cast<std::size_t>(-1)' failed.