Running demo_quadruped.py gives malloc error

[jviereck]

The current version of the demo_quadruped.py uses the tsid.SolverHQuadProgFast, which under debug mode yields a not allowed malloc error. When changing to tsid.SolverHQuadProg, this error goes away (though there is a new one due to reading of the contact force in the 3d PointContact case from invdyn.getContactForce(contact.name, sol) - that's a separate bug I look into tomorrow):

$ gdb -ex r --args python demo_quadruped.py

[...]

[SolverHQuadProgFast.qp solver] Resizing equality constraints from 0 to 18
[SolverHQuadProgFast.qp solver] Resizing inequality constraints from 0 to 20
[SolverHQuadProgFast.qp solver] Resizing Hessian from 0 to 26
Level 0
 - base-dynamics: w=1, equality, 6x26
 - BL_contact_force_constraint: w=1, inequality, 5x26
 - BR_contact_force_constraint: w=1, inequality, 5x26
 - FL_contact_force_constraint: w=1, inequality, 5x26
 - FR_contact_force_constraint: w=1, inequality, 5x26
Level 1
 - BL_contact_motion_task: w=1, equality, 3x26
 - BL_contact_force_reg_task: w=1e-05, equality, 3x26
 - BR_contact_motion_task: w=1, equality, 3x26
 - BR_contact_force_reg_task: w=1e-05, equality, 3x26
 - FL_contact_motion_task: w=1, equality, 3x26
 - FL_contact_force_reg_task: w=1e-05, equality, 3x26
 - FR_contact_motion_task: w=1, equality, 3x26
 - FR_contact_force_reg_task: w=1e-05, equality, 3x26
 - task-com: w=1, equality, 3x26
 - task-posture: w=0.001, equality, 8x26

[SolverHQuadProgFast.qp solver] Resizing equality constraints from 18 to 6
python: /usr/include/eigen3/Eigen/src/Core/util/Memory.h:206: void 
Eigen::internal::check_that_malloc_is_allowed(): Assertion `is_malloc_allowed() && "heap allocation is 
forbidden (EIGEN_RUNTIME_NO_MALLOC is defined and g_is_malloc_allowed is false)"' failed.

[...]

#10 0x00007fffc82dab26 in tsid::solvers::SolverHQuadProgFast::resize (this=0x1bb0cf0, n=26, neq=6, nin=20)
    at /home/jviereck/dev/tools/tsid/src/solvers/solver-HQP-eiquadprog-fast.cpp:58
58	        m_CE.resize(neq, n);

[andreadelprete]

Fixed by commit f4f9645