[Bug 496] New: ChainIkSolverVel_pinv segfaults on a chain with less than 6 joints

For more infomation about this bug, visit
Summary: ChainIkSolverVel_pinv segfaults on a chain with less
than 6 joints
Product: KDL
Version: kdl-trunk
Platform: All
OS/Version: All
Status: NEW
Severity: critical
Priority: P2
Component: Kinematic chains
AssignedTo: ruben [dot] smits [..] ...
ReportedBy: ruben [dot] smits [..] ...
CC: orocos-dev [..] ...
Estimated Hours: 0.0

Apparently the svd_HH class cannot be used yet for jacobians with less than 6
columns,

action points:

- find the bug
- add a unittest

Ruben

Ruben Smits's picture

[Bug 496] ChainIkSolverVel_pinv segfaults on a chain with less t

For more infomation about this bug, visit

Ruben Smits <ruben [dot] smits [..] ...> changed:

What |Removed |Added
--------------------------------------------------------------------------
Status|NEW |RESOLVED
Resolution| |FIXED

--- Comment #3 from Ruben Smits <ruben [dot] smits [..] ...> 2008-01-30 17:51:22 ---
fixed in revision 28881

Ruben

Ruben Smits's picture

[Bug 496] ChainIkSolverVel_pinv segfaults on a chain with less t

For more infomation about this bug, visit

--- Comment #2 from Ruben Smits <ruben [dot] smits [..] ...> 2008-01-22 13:03:33 ---
Created an attachment (id=225)
--> (https://www.fmtc.be/bugzilla/orocos/attachment.cgi?id=225)
patch to add unittest for solvers of chains with less than 6 joints

this patch adds the unittest for a chain with less than 6 joints

Ruben Smits's picture

[Bug 496] ChainIkSolverVel_pinv segfaults on a chain with less t

For more infomation about this bug, visit

--- Comment #1 from Ruben Smits <ruben [dot] smits [..] ...> 2008-01-22 13:01:14 ---
Created an attachment (id=224)
--> (https://www.fmtc.be/bugzilla/orocos/attachment.cgi?id=224)
patch to fix bug 496

There were some errors in the ChainIkSolverVel_pinv,

this patch fixes these and adds a unittest in the solvertest to check the
solvers in the future for a chain with less then 6 joints

Ruben