Wrong dimension for ResidualModelState.set_reference()

[ComePerrot]

Hello,

I'm running into a bug when using the set_reference method of ResidualModelState on version 2.0.1:

void crocoddyl::ResidualModelStateTpl<Scalar>::set_reference(const VectorXs&) [with _Scalar = double; crocoddyl::ResidualModelStateTpl<Scalar>::VectorXs = Eigen::Matrix<double, -1, 1>] 151
Invalid argument: the state reference has wrong dimension (63 provided - it should be 62)

The same code was previously running without problems on release 1.9.0.

The dimension of the reference I'm providing doesn't match the one expected by Crocoddyl.
I believe there is an error in the check carried out in file state.hxx.
It should be:
static_cast<std::size_t>(reference.size()) != state_->get_nx()
instead of
static_cast<std::size_t>(reference.size()) != nr_

It fixes the issue in my case, where state_->get_nx() = nr_+1.

I haven't checked the other residuals, but I think this is the only one where this kind of problem would arise.

System

• OS: Ubuntu 20.04
• Crocoddyl version: 2.0.1

[cmastalli]

Thanks for reporting this bug, @ComePerrot !

Above you can see the PR that solves it.
Need to create some unit test for this.