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Fix malloc issue in CRBA #2126

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merged 3 commits into from
Dec 22, 2023
Merged

Fix malloc issue in CRBA #2126

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8a7c5ee
algo/crba: add missing noalias()
jcarpent Dec 22, 2023
13d0129
test/crba: add malloc test for debug mode
jcarpent Dec 22, 2023
27b0db5
changelog: update
jcarpent Dec 22, 2023
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1 change: 1 addition & 0 deletions CHANGELOG.md
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Expand Up @@ -15,6 +15,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
- Fix missing include for Boost >= 1.83 ([#2103](https://github.com/stack-of-tasks/pinocchio/pull/2103))
- Remove f-strings to fix install with python 2 ([#2110](https://github.com/stack-of-tasks/pinocchio/pull/2110))
- CMake: stop exporting CppAd/cppadcodegen & fetch submodule if not available ([#2112](https://github.com/stack-of-tasks/pinocchio/pull/2112))
- Fix malloc issue in CRBA algo ([#2126](https://github.com/stack-of-tasks/pinocchio/pull/2126))

## [2.6.21] - 2023-11-27

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2 changes: 1 addition & 1 deletion include/pinocchio/algorithm/crba.hxx
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Expand Up @@ -77,7 +77,7 @@ namespace pinocchio
jmodel.jointCols(data.Fcrb[i]) = data.Ycrb[i] * jdata.S();

/* M[i,SUBTREE] = S'*F[1:6,SUBTREE] */
data.M.block(jmodel.idx_v(),jmodel.idx_v(),jmodel.nv(),data.nvSubtree[i])
data.M.block(jmodel.idx_v(),jmodel.idx_v(),jmodel.nv(),data.nvSubtree[i]).noalias()
= jdata.S().transpose()*data.Fcrb[i].middleCols(jmodel.idx_v(),data.nvSubtree[i]);

const JointIndex & parent = model.parents[i];
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23 changes: 23 additions & 0 deletions unittest/crba.cpp
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Expand Up @@ -10,6 +10,10 @@
*
*/

#ifndef EIGEN_RUNTIME_NO_MALLOC
#define EIGEN_RUNTIME_NO_MALLOC
#endif

#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/data.hpp"
#include "pinocchio/algorithm/crba.hpp"
Expand Down Expand Up @@ -158,5 +162,24 @@ BOOST_AUTO_TEST_CASE(test_minimal_crba)

}

#ifndef NDEBUG

BOOST_AUTO_TEST_CASE(test_crba_malloc)
{
using namespace pinocchio;
pinocchio::Model model;
pinocchio::buildModels::humanoidRandom(model);

model.addJoint(size_t(model.njoints-1), pinocchio::JointModelRevoluteUnaligned(SE3::Vector3::UnitX()), SE3::Random(), "revolute_unaligned");
pinocchio::Data data(model);

const Eigen::VectorXd q = pinocchio::neutral(model);
Eigen::internal::set_is_malloc_allowed(false);
crba(model, data, q);
Eigen::internal::set_is_malloc_allowed(true);
}

#endif

BOOST_AUTO_TEST_SUITE_END ()

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