[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 <https://www.fmtc.be/bugzilla/orocos/show_bug.cgi?id=540> 

           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 at lists [dot] mech [dot] kuleuven [dot] be
        ReportedBy: ruben.smits at mech [dot] kuleuven [dot] be
                CC: orocos-dev at lists [dot] mech [dot] kuleuven [dot] be
   Estimated Hours: 0.0

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

Ruben


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Ruben Smits's picture

[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 <https://www.fmtc.be/bugzilla/orocos/show_bug.cgi?id=540>

Ruben Smits <ruben.smits at mech [dot] kuleuven [dot] be> changed: 

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

--- Comment #1 from Ruben Smits <ruben.smits at mech [dot] kuleuven [dot] be>  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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