contact-info: cache nv, fix #2304

stack-of-tasks / pinocchio

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

http://stack-of-tasks.github.io/pinocchio/

BSD 2-Clause "Simplified" License

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contact-info: cache nv, fix #2304 #2416

Closed nim65s closed 3 weeks ago

nim65s commented 3 weeks ago

Hi,

This fix the symptoms described in #2304. We should probably dig a bit more to find the cause.

Thanks a lot @jorisv for help there !

ManifoldFR commented 3 weeks ago

Does GCC 14 have the same issue ?

jorisv commented 3 weeks ago

Thanks for the fix @nim65s.

I have missed that JointModelBase::nv default implementation call a boost::static_visitor. So, regardless of the compiler bug, this fix simplify the code.

I will merge this PR but keep the issue open to try to understand if this is a know GCC bug.