Hello,
I tried the example of the Inverse Kinematics solver ChainIkSolverPos_NR and make it work.
(1)The first problem is that if there is no calculation on Forward kinematics solver before I call IK solver, program will crush at iksolverpos.CartToJnt();
"Unhandled exception at 0x77c615de in KDL_Test3.exe: 0xC0000005: Access violation."
(2)The I tried to make some calculation on FK solver before I call IK solver. The problem above solved. I put IK example into a IKTest() function. When IKTest() function returns, program will crush.
"Unhandled exception at 0x77c615de in KDL_Test3.exe: 0xC0000005: Access violation reading location 0x0000008a."
What's wrong with it? How can this example do not work on my computer? windows 7 + visual studio 2008.
Thanks.
Leo Ma
ChainIkSolverVel_pinv caused the problem
I found the problem was caused by ChainIkSolverVel_pinv. I make a test as simple as the following -- IKtest2(). Only one ChainIkSolverVel_pinv is created. When this function returns, "Unhandled exception" happens in dbgheap.c at line 1260.
void IKtest2() {KDL::Chain chain; chain.addSegment(Segment(Joint(Joint::RotZ),Frame(Vector(0.0,0.0,1.020)))); chain.addSegment(Segment(Joint(Joint::RotX),Frame(Vector(0.0,0.0,0.480)))); chain.addSegment(Segment(Joint(Joint::RotX),Frame(Vector(0.0,0.0,0.645)))); chain.addSegment(Segment(Joint(Joint::RotZ))); chain.addSegment(Segment(Joint(Joint::RotX),Frame(Vector(0.0,0.0,0.120)))); chain.addSegment(Segment(Joint(Joint::RotZ))); ChainIkSolverVel_pinv iksolver1v(chain);//Inverse velocity solver return;}operating system is wondows 7 64 bits. The configuration of project is win32.
A little bit different when I add a ChainFkSolverPos_recursive
Actually it is part of the IK sample from KDL. Now when IKtest2 function returns, the "Unhandled exception" will happen in "free.c" line 109.
void IKtest2() {KDL::Chain chain; chain.addSegment(Segment(Joint(Joint::RotZ),Frame(Vector(0.0,0.0,1.020)))); chain.addSegment(Segment(Joint(Joint::RotX),Frame(Vector(0.0,0.0,0.480)))); chain.addSegment(Segment(Joint(Joint::RotX),Frame(Vector(0.0,0.0,0.645)))); chain.addSegment(Segment(Joint(Joint::RotZ))); chain.addSegment(Segment(Joint(Joint::RotX),Frame(Vector(0.0,0.0,0.120)))); chain.addSegment(Segment(Joint(Joint::RotZ))); ChainFkSolverPos_recursive fksolver1(chain);//Forward position solver ChainIkSolverVel_pinv iksolver1v(chain);//Inverse velocity solver return;}test environment is visual studio 2008.
A little bit different when I add a ChainFkSolverPos_recursive
Dear Leonard,
Actually it is part of the IK sample from KDL. Now when IKtest2 function
> returns, the "Unhandled exception" will happen in "free.c" line 109.
>
> void IKtest2()
> {
> KDL::Chain chain;
>
> chain.addSegment(Segment(Joint(Joint::RotZ),Frame(Vector(0.0,0.0,1.020))));
>
> chain.addSegment(Segment(Joint(Joint::RotX),Frame(Vector(0.0,0.0,0.480))));
>
> chain.addSegment(Segment(Joint(Joint::RotX),Frame(Vector(0.0,0.0,0.645))));
> chain.addSegment(Segment(Joint(Joint::RotZ)));
>
> chain.addSegment(Segment(Joint(Joint::RotX),Frame(Vector(0.0,0.0,0.120))));
> chain.addSegment(Segment(Joint(Joint::RotZ)));
>
> ChainFkSolverPos_recursive fksolver1(chain);//Forward position
> solver
> ChainIkSolverVel_pinv iksolver1v(chain);//Inverse velocity solver
>
> return;
> }
>
> test environment is visual studio 2008.
>
I tried your IKtest2 function, and my test program run just fine. (No
unhandled exceptions, no core dumps...)..I also checked in case of memory
leaks, the following is the result:
==5472== HEAP SUMMARY:
> ==5472== in use at exit: 0 bytes in 0 blocks
> ==5472== total heap usage: 56 allocs, 56 frees, 30,330 bytes allocated
> ==5472==
> ==5472== All heap blocks were freed -- no leaks are possible
> ==5472==
> ==5472== ERROR SUMMARY: 0 errors from 0 contexts (suppressed: 2 from 2)
> --5472--
> --5472-- used_suppression: 2 dl-hack3-cond-1
> ==5472==
> ==5472== ERROR SUMMARY: 0 errors from 0 contexts (suppressed: 2 from 2)
I compiled the test program using both gcc (4.6.1 and 4.8.1) and clang
(3.0) on Ubuntu 12.04
I can be wrong, but with the information that you reported, it looks like
the problem is on your system toolchain (win+visual_studio+MS compiler...)
Did you tried to change compiler?
Regards,
- Enea
I have to use windows as operating system.
Do you have any suggestion on changing my tool chain? for example, other compiler. Thanks.
Best regards,
Leo
I have to use windows as operating system.
Hi Leo,
On Wed, Aug 28, 2013 at 5:22 PM, <leonard [dot] kdl [..] ...> wrote:
> Do you have any suggestion on changing my tool chain? for example, other
> compiler. Thanks.
>
For windows, we only have these instructions:
http://www.orocos.org/wiki/rtt/rtt-ms-windows
But afaikt, the full toolchain is not supported, only RTT + OCL.
Peter
I think so
Thanks.
Actually the problem happened in "free.c" which is a file from Microsoft. It seems like it is a compatible issue between KDL and Windows.
I did not try to change my toolchain yet. The problem is that my software has to run on Windows.
Sorry. the comments above are not clear
I tried the example of the Inverse Kinematics solver ChainIkSolverPos_NR and make it work.
(1)The first problem is that if there is no calculation on Forward kinematics solver before I call IK solver, program will crush at iksolverpos.CartToJnt();
"Unhandled exception at 0x77c615de in KDL_Test3.exe: 0xC0000005: Access violation."
Then I tried to make some calculation on FK solver before I call IK solver. The problem above solved. I don't know if this is solution.
(2) I put IK example into a IKTest() function. Now after the IK calculation, the result seems correct. When IKTest() function returns, again , program will crush.
"Unhandled exception at 0x77c615de in KDL_Test3.exe: 0xC0000005: Access violation reading location 0x0000008a."
What's wrong with it? How can this example do not work on my computer? windows 7 + visual studio 2008.
Thanks.