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tesseract-robotics / trajopt

Trajectory Optimization Motion Planner for ROS
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TrajOpt SCO Large Heap Allocation #309

Closed Levi-Armstrong closed 1 year ago

Levi-Armstrong commented 1 year ago

Current when running the trajopt planning unit test leveraging heaptrack it was found to have allocated around 2GB of memory. This occurs in solver_utils.cpp when space is reserved in the Eigen sparse matrix. Need to investigate if we are reserving the correct amount.

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Levi-Armstrong commented 1 year ago

I have been able to reduce the almost all of the memory allocation. I will have a PR very soon to address the issue. image

Levi-Armstrong commented 1 year ago

Addressed by PR #310