terminate called after throwing an instance of 'gtsam::IndeterminantLinearSystemException'

jchengai / gpir

[ICRA'22] Real-Time Trajectory Planning for Autonomous Driving with Gaussian Process and Incremental Refinement

https://arxiv.org/pdf/2205.11853.pdf

MIT License

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terminate called after throwing an instance of 'gtsam::IndeterminantLinearSystemException' #6

Open ydcttt opened 2 years ago

ydcttt commented 2 years ago

Hi, I try to run the demo code and I meet a crash issue, the detail is below. The scenario is that adc goes straight and the obstacle left turn. I notice the lat_acc is very large, and gtsam library report Thrown when a linear system is ill-posed. The most common cause for this error is having underconstrained variables. I am not familiar with the gtsam, just want to ask how to solve this crash issue.