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posture task read error #168
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Hi @dalinel, I can reproduce your issue and your fix, so this looks OK for me, thanks ! Can you open a PR ? ping @ABonnefoy : you might want to check if this help with your current issues :) |
Thanks for spotting this issue!
|
Ok perfect thanks ! |
Fixed in #169 |
Hi,
If I compile tsid
devel
branch inDEBUG
and run the following test:valgrind ./tsid-formulation
I obtain the following read error:
I think there is a Eigen Vector size problem here
m_p_error = pinocchio::difference(m_robot.model(), m_ref_q_augmented, q);
m_p_error = m_p_error.tail(m_robot.na());
Changing it to
m_p_error = pinocchio::difference(m_robot.model(), m_ref_q_augmented, q.tail(m_ref_q_augmented.size())).tail(m_robot.na());
solves the issue on my computer
Would that be ok ?
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