- changed status to open
RBPbot Operational Space Control - lambda_inv is singular
svd.compute() fails in COpPointTask.cpp when lambda_inv is singular. This happened when we ran the scl_eg_ctrl with the RPB-bot.
Assertion '(!m_computeThinU || computeThinV || (MatrixType::ColsAtCompileTime==Dynamic)) && "JacobiSVD: thin U and V are only available whne your matrix has a dynamic number of columns."' failed.
Comments (6)
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repo owner -
repo owner Will fix.
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repo owner Only happens in debug mode.
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repo owner Temporary workaround : Changing the operational task controller to compute the full u and v in the svd makes it work.
COpPointTask.cpp : Change Line 205 to:
svd_.compute(data_->lambda_inv_, Eigen::ComputeFullU | Eigen::ComputeFullV | Eigen::ColPivHouseholderQRPreconditioner);
Then recompile scl lib and the example controller
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repo owner Fixed as of : 5f83a683f679d5f4941e0b9651c50c986529d3c3
However, there seems to be some weird singularity in debug mode. This should be investigated further.
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repo owner - changed status to resolved
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