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Fix segment fault on 32-bit machine #459

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merged 8 commits into from
Aug 21, 2018
Merged

Fix segment fault on 32-bit machine #459

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1603c47
fix memory leak
dqyi11 Aug 14, 2018
e4e0d00
increase timelimit for success rate
dqyi11 Aug 14, 2018
b7dbfab
update CHANGELOG
dqyi11 Aug 17, 2018
23c8581
change to use scopedState
dqyi11 Aug 18, 2018
5159fd1
Update CHANGELOG.md
jslee02 Aug 18, 2018
a45b25e
Merge branch 'master' into bugfix/dqyi/fixSegmentFault32BitMachine
brianhou Aug 18, 2018
fd6b171
Merge branch 'master' into bugfix/dqyi/fixSegmentFault32BitMachine
jslee02 Aug 19, 2018
cb83897
Minor wording fix.
brianhou Aug 21, 2018
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1 change: 1 addition & 0 deletions CHANGELOG.md
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Expand Up @@ -49,6 +49,7 @@
* Changed interface for TrajectoryPostProcessor: [#341](https://github.com/personalrobotics/aikido/pull/341)
* Planning calls with InverseKinematicsSampleable constraints explicitly set MetaSkeleton to solve IK with: [#379](https://github.com/personalrobotics/aikido/pull/379)
* Added a kinodynamic timer that generates a time-optimal smooth trajectory without completely stopping at each waypoint: [#443](https://github.com/personalrobotics/aikido/pull/443)
* Fix segment fault on 32 bit machine in vector-field planner: [#459](https://github.com/personalrobotics/aikido/pull/459)
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Nit: Fixed


* Robot

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15 changes: 11 additions & 4 deletions src/planner/vectorfield/detail/VectorFieldIntegrator.cpp
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Expand Up @@ -54,13 +54,20 @@ VectorFieldIntegrator::VectorFieldIntegrator(
double checkConstraintResolution)
: mVectorField(vectorField)
, mConstraint(collisionFreeConstraint)
, mCacheIndex(-1)
, mDimension(mVectorField->getStateSpace()->getDimension())
, mTimelimit(timelimit)
, mConstraintCheckResolution(checkConstraintResolution)
, mState(mVectorField->getStateSpace()->allocateState())
, mLastEvaluationTime(0.0)
{
mCacheIndex = -1;
mLastEvaluationTime = 0.0;
mDimension = mVectorField->getStateSpace()->getDimension();
mState = mVectorField->getStateSpace()->createState();
// Do Nothing
}

//==============================================================================
VectorFieldIntegrator::~VectorFieldIntegrator()
{
mVectorField->getStateSpace()->freeState(mState);
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I suggest using ScopedState instead of we take the responsibility of the memory allocation/deallocation.

}

//==============================================================================
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3 changes: 3 additions & 0 deletions src/planner/vectorfield/detail/VectorFieldIntegrator.hpp
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Expand Up @@ -57,6 +57,9 @@ class VectorFieldIntegrator
double timelimit,
double checkConstraintResolution);

/// Destructor.
virtual ~VectorFieldIntegrator();

/// Called before doing integration.
///
void start();
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4 changes: 2 additions & 2 deletions tests/planner/vectorfield/test_VectorFieldPlanner.cpp
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Expand Up @@ -334,7 +334,7 @@ TEST_F(VectorFieldPlannerTest, PlanToEndEffectorOffsetTest)
double initialStepSize = 0.001;
double jointLimitTolerance = 1e-3;
double constraintCheckResolution = 1e-3;
std::chrono::duration<double> timelimit(10.0);
std::chrono::duration<double> timelimit(60.0);

// Create problem.
auto offsetProblem = ConfigurationToEndEffectorOffset(
Expand Down Expand Up @@ -455,7 +455,7 @@ TEST_F(VectorFieldPlannerTest, PlanToEndEffectorPoseTest)
double r = 1.0;
double jointLimitTolerance = 1e-3;
double constraintCheckResolution = 1e-3;
std::chrono::duration<double> timelimit(5.);
std::chrono::duration<double> timelimit(60.);

mSkel->setPositions(mStartConfig);

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