openrave exception in ZMP trajectory

[stephane-caron]

With the following trajectory (zmp_hrp4 format):

trajectorystring = """1.500000
22
0.0 0.0 1.99242076297 -1.32221433021
0.0 0.0 2.53280855643 -1.67759722295
0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0
0.0 0.0 0.967382109132 -0.642750868261
0.0 0.0 -0.519933641176 0.348891374481
0.0 0.0 2.89830573159 -1.93488398449
0.0 0.0 -2.14170672114 1.44939278452
0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0
0.0 0.0 3.13256805344 -2.08537050225
0.0 0.0 4.59613512542 -3.04279209114
0.0 0.0 4.81882377745 -3.21312086562
0.0 0.0 -3.18430860851 2.12838441106
0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0"""

I get the following openrave exception:

openrave_exception: openrave (Assert): [/home/caron/Software/openrave/include
/openrave/geometry.h:449] -> OpenRAVE::geometry::RaveTransform<T> 
OpenRAVE::geometry::RaveTransform<T>::operator*(const 
OpenRAVE::geometry::RaveTransform<T>&) const [with T = double], expr: 
fnorm > 0.99f && fnorm < 1.01f

[quangounet]

Happens when qd=0 when computing the derivative of the Jacobian. Fixed b7e1ae9