http://bugs.orocos.org/show_bug.cgi?id=880

Summary: Assertion Bug in svd_eigen_HH
Product: KDL
Version: kdl-trunk
Platform: All
OS/Version: All
Status: NEW
Severity: normal
Priority: P3
Component: Kinematic Solvers
AssignedTo: orocos-dev [..] ...
ReportedBy: craig [dot] r [dot] carignan [..] ...
Estimated Hours: 0.0

The assertion "assert(z!=0)" on Line 219 of svd_eigen_HH.cpp is a bug and
should be removed. The conditional statement in the next line "if
(fabs(z)>epsilon)" will prevent a divide by zero in the next line "z=1.0/z" in
the event that z=0. Since z can equal zero, the assertion will stop the
algorithm when it is not supposed to. This svd utility function is used by
ChainIkSolverVel_wdls and maybe other chain ik solvers.