[Bug 540] New: chainiksolvervel_pinv not suitable for redundant chains

Submitted by Ruben Smits on Wed, 2008-05-07 09:20

For more infomation about this bug, visit
Summary: chainiksolvervel_pinv not suitable for redundant chains
Product: KDL
Version: kdl-trunk
Platform: All
OS/Version: All
Status: NEW
Severity: normal
Priority: P2
Component: Kinematic chains
AssignedTo: orocos-dev [..] ...
ReportedBy: ruben [dot] smits [..] ...
CC: orocos-dev [..] ...
Estimated Hours: 0.0

when using chainiksolvervel_pinv for redundant chains, svd_HH results in a
segfault

Ruben

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[Bug 540] chainiksolvervel_pinv not suitable for redundant chain

Submitted by Ruben Smits on Wed, 2008-05-07 09:25.

For more infomation about this bug, visit

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

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

--- Comment #1 from Ruben Smits <ruben [dot] smits [..] ...> 2008-05-07 11:14:00 ---
Fixed on trunk:

svn ci -m"Closes bug #540"
Sending src/chainiksolverpos_nr.hpp
Sending src/chainiksolvervel_pinv.cpp
Sending src/utilities/svd_HH.cpp
Transmitting file data ...
Committed revision 29235.

and a test is added:

svn ci -m"Expanding tests for redundant chains for ChainIksolverVel_pinv and
ChainIksolverVel_pinv_boost_givens"
Sending tests/solvertest.cpp
Sending tests/solvertest.hpp
Transmitting file data ..
Committed revision 29236.

Ruben

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