Fix segment fault on 32-bit machine

[dqyi11]

This PR fixes the last issue left in #365
I have tested it on 32-bit machine.

The previous code uses createState() of a state space to a State raw point, which causes problem in ownership and thus memory leak.
The timilimit in the unit test is increased for successul rate.

---

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[codecov]

Codecov Report

Merging #459 into master will decrease coverage by 0.01%.
The diff coverage is 100%.

@@            Coverage Diff             @@
##           master     #459      +/-   ##
==========================================
- Coverage   78.89%   78.88%   -0.02%     
==========================================
  Files         258      258              
  Lines        6303     6300       -3     
==========================================
- Hits         4973     4970       -3     
  Misses       1330     1330

Impacted Files	Coverage Δ
...anner/vectorfield/detail/VectorFieldIntegrator.hpp	100% <ø> (ø)	⬆️
...anner/vectorfield/detail/VectorFieldIntegrator.cpp	94.73% <100%> (-0.27%)	⬇️

[jslee02]

Nit: Fixed

[jslee02]

I suggest using ScopedState instead of we take the responsibility of the memory allocation/deallocation.

[dqyi11]

I have tested this branch on a 32bit machine. All the previous tests are passed.
There are two new tests failed, which are 49 - test_JointAvoidanceConfigurationRanker (OTHER_FAULT) and 50 - test_NominalConfigurationRanker (Failed).

The error received in running test_JointAvoidanceConfigurationRanker is:

Running main() from gtest_main.cc
[==========] Running 2 tests from 1 test case.
[----------] Global test environment set-up.
[----------] 2 tests from JointAvoidanceConfigurationRankerTest
[ RUN ] JointAvoidanceConfigurationRankerTest.Constructor
[ OK ] JointAvoidanceConfigurationRankerTest.Constructor (1 ms)
[ RUN ] JointAvoidanceConfigurationRankerTest.OrderTest
test_JointAvoidanceConfigurationRanker: /usr/include/eigen3/Eigen/src/Core/DenseStorage.h:78: Eigen::internal::plain_array<T, Size, MatrixOrArrayOptions, 16>::plain_array() [with T = double; int Size = 2; int MatrixOrArrayOptions = 0]: Assertion `(reinterpret_cast<size_t>(eigen_unaligned_array_assert_workaround_gcc47(array)) & 0xf) == 0 && "this assertion is explained here: " "http://eigen.tuxfamily.org/dox-devel/group__TopicUnalignedArrayAssert.html" " **** READ THIS WEB PAGE !!! ****"' failed.
Aborted (core dumped)

The error received in running test_NominalConfigurationRanker is:

Running main() from gtest_main.cc
[==========] Running 2 tests from 1 test case.
[----------] Global test environment set-up.
[----------] 2 tests from NominalConfigurationRankerTest
[ RUN ] NominalConfigurationRankerTest.Constructor
[ OK ] NominalConfigurationRankerTest.Constructor (1 ms)
[ RUN ] NominalConfigurationRankerTest.OrderTest
/home/daqing/catkin_ws/src/aikido/tests/distance/test_NominalConfigurationRanker.cpp:109: Failure
Value of: aikido::tests::CompareEigenMatrices(rankedState, jointPositions[i], EPS)
Actual: false (Matrices differ in row 0, column 0: 0.29999999999999999 !=: 0.10000000000000001.)
Expected: true
/home/daqing/catkin_ws/src/aikido/tests/distance/test_NominalConfigurationRanker.cpp:109: Failure
Value of: aikido::tests::CompareEigenMatrices(rankedState, jointPositions[i], EPS)
Actual: false (Matrices differ in row 0, column 0: 0.10000000000000001 !=: 0.20000000000000001.)
Expected: true
/home/daqing/catkin_ws/src/aikido/tests/distance/test_NominalConfigurationRanker.cpp:109: Failure
Value of: aikido::tests::CompareEigenMatrices(rankedState, jointPositions[i], EPS)
Actual: false (Matrices differ in row 0, column 0: 0.20000000000000001 !=: 0.29999999999999999.)
Expected: true
[ FAILED ] NominalConfigurationRankerTest.OrderTest (1 ms)
[----------] 2 tests from NominalConfigurationRankerTest (2 ms total)
[----------] Global test environment tear-down
[==========] 2 tests from 1 test case ran. (2 ms total)
[ PASSED ] 1 test.
[ FAILED ] 1 test, listed below:
[ FAILED ] NominalConfigurationRankerTest.OrderTest

@aditya-vk do you have any idea?

[jslee02]

@dqyi11 Thanks for the fix! However, I'm questionable if we really want to support 32 bit platforms. Do we have any use case? If we decide to do so, I think we should have a CI setup so that we can continuously have surveillance on the failings. Otherwise, let's not bother 32-bit issues. @brianhou @gilwoolee @aditya-vk thoughts? :)

[brianhou]

I don't particularly care about 32-bit platforms, but it seems like it might reveal otherwise hidden bugs (e.g. this mixup between States vs ScopedStates). However, I also feel like our builds already take an incredibly long time. Maybe this is something we can run only on master on Ubuntu and only in Debug?

[dqyi11]

I think the failures in 32-bit machine are caused by multiple reasons. Most of them are related with memory operation. Fixing them could also improve the robustness of aikido on 64-bit machine.

Maybe we can close this one. Because all the problems we found previously are addressed.
We will open new issues with explained reasons/details if we encounter in the future.