Quaternion leads to segfault with -march=native

[cmastalli]

I have compiled eigenpy with clang-10 (Release mode) and the following flags: -march=native -mfpmath=sse. Then, the following code leads to a segfault:

import eigenpy
eigenpy.Quaternion.Identity()

[nim65s]

I can't reproduce.

Here are the steps I followed, on a 18.04 machine:

git clone --recursive https://github.com/stack-of-tasks/eigenpy.git
cd eigenpy
mkdir build
cd build
export CXX=/usr/bin/clang++-10
export CXX_FLAGS="-march=native -mfpmath=sse"
export CC=/usr/bin/clang-10
cmake -DCMAKE_BUILD_TYPE=Release -DPYTHON_EXECUTABLE=/usr/bin/python3 ..
make -sj16
make test // OK
python3 -c "import eigenpy; print(eigenpy.Quaternion.Identity())"

As expected, I get

(x,y,z,w) = 0 0 0 1

[nim65s]

ok, my CXX_FLAGSwas wrong.

I can reproduce with

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 689dc3d..7164e71 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -31,6 +31,7 @@ INCLUDE(cmake/ide.cmake)
 INCLUDE(cmake/apple.cmake)
 
 STRING(REPLACE "-pedantic" "" CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS})
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=native -mfpmath=sse")
 
 # If needed, fix CMake policy for APPLE systems
 APPLY_DEFAULT_APPLE_CONFIGURATION()

Only the geometry test segfaults.

[cmastalli]

Only the geometry test segfaults.

Yes, that's correct! I also observed that test_geometry.py failed.

Btw, I have also similar issues with Pinocchio.Quaternion, but I am not sure if it is also rooted to this one.

[jcarpent]

Again, please provide the version of Eigen, Boost, Python and Eigenpy you are using. Otherwise, it will be hard to provide sound help.

[jcarpent]

Did you try the C++ equivalent action before opening this issue?

[cmastalli]

Again, please provide the version of Eigen, Boost, Python and Eigenpy you are using. Otherwise, it will be hard to provide sound help.

This is my setup:

• Eigen: 3.3.7
• Boost: 1.65.1
• Eigenpy: devel branch
• Ubuntu 18.04

Did you try the C++ equivalent action before opening this issue?

No, I didn't

[jcarpent]

Did you try the C++ equivalent action before opening this issue?

No, I didn't

Please first try this aspect and come back latter with this useful feedback.

[jcarpent]

No issue on my side.
This seems to be a conflict between different install of eigenpy.
I will close this issue as it does not seem related to eigenpy.

For future issues, you should provide a docker image replicating the issue for quick test and debugging.

[cmastalli]

This seems to be a conflict between different install of eigenpy.

Are you sure?

This issue was reproduced by @nim65s.

I think it is too early for making that conclusion.

[jcarpent]

Please start from a clean installation (e.g. Docker image) and we can discuss after that if the problem still occurs.

[cmastalli]

I have no anymore the issue after cleaning up ipython. I realized that it was leading to segfault with ipython only (it was working well with python).

This is not exactly the @nim65s condition, but it could be a similar problem.

[jcarpent]

Could you do: which python/ which ipython?

[cmastalli]

Could you do: which python/ which ipython?

No, I couldn't for ipython. But I believe it should be /usr/bin/ipython. Now I removed that one, I reinstalled the version using pip install --user.

For python, everything remains the same. So which python prints /usr/bin/python.

[cmastalli]

What is the recommended approach (pip or apt install version)?