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humanoid-path-planner / hpp-rbprm

"Implementation of RB-PRM planner using hpp."
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Wrong dimension of interpolate inputs in time-constraint-path.cc #64

Closed pFernbach closed 4 years ago

pFernbach commented 4 years ago

https://github.com/humanoid-path-planner/hpp-rbprm/blob/master/src/interpolation/time-constraint-path.cc#L109

Since pinocchio 2.1.10 this line create an invalid_argument error as interpolate explicitly check that the dimension of the inputs are the same as model.nq ( = configSize - extraDof).

Because of how interpolate is implemented in hpp-pinocchio (https://github.com/humanoid-path-planner/hpp-pinocchio/blob/master/src/configuration.cc#L133-L138) we cannot simply give the first nq values of the configurations as input to the method ...

pFernbach commented 4 years ago

Fixed with the new release of hpp-pinocchio.