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olzhas / DMP_RRTstarFN

Dynamic motion planning for various robotic systems
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The program crashes if a user pressed O after <Space> was pressed. #20

Open olzhas opened 8 years ago

olzhas commented 8 years ago
screenshot 2016-01-04 10 24 18

staubli_dart: /usr/include/eigen3/Eigen/src/Core/Block.h:141: Eigen::Block<XprType, BlockRows, BlockCols, InnerPanel>::Block(XprType&, Eigen::Block<XprType, BlockRows, BlockCols, InnerPanel>::Index, Eigen::Block<XprType, BlockRows, BlockCols, InnerPanel>::Index, Eigen::Block<XprType, BlockRows, BlockCols, InnerPanel>::Index, Eigen::Block<XprType, BlockRows, BlockCols, InnerPanel>::Index) [with XprType = const Eigen::Matrix<double, -1, 1>; int BlockRows = -1; int BlockCols = 1; bool InnerPanel = false; Eigen::Block<XprType, BlockRows, BlockCols, InnerPanel>::Index = long int]: Assertion `a_startRow >= 0 && blockRows >= 0 && a_startRow <= xpr.rows() - blockRows && a_startCol >= 0 && blockCols >= 0 && a_startCol <= xpr.cols() - blockCols' failed.

olzhas commented 8 years ago

The problem caused by the added dynamic obstacle. In short, DART generated a recording (i.e. the states that were generated during the simulation stage) that does not include a newly added dart::dynamics::Skeleton, but anyway the library tries to set the position for the skeletons in the dart::simulation::World. Look at these methods for more information:

std::string World::addSkeleton(dynamics::SkeletonPtr _skeleton)
manipulator->obsManager.spawn("cube.skel");