RBPbot Operational Space Control - lambda_inv is singular

[Eric Jang]

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.

[Samir Menon]

Will fix.

[Samir Menon]

Only happens in debug mode.

[Samir Menon]

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

[Samir Menon]

Fixed as of : 5f83a683f679d5f4941e0b9651c50c986529d3c3

However, there seems to be some weird singularity in debug mode. This should be investigated further.