Emilio Benenati

Understand why iDynTree inverse kinematics crashes in Simulink and Matlab

2

I have encountered a problem in the iDynTree inverse kinematics (based on IPOPT) defined [here](https://github.com/robotology/idyntree/blob/master/src/inverse-kinematics/src/InverseKinematicsData.cpp). I wrapped it in a blockfactory-based simulink block. When calling the [solve](https://github.com/robotology/idyntree/blob/83f306bf521a2e89c594017747bda95fe786e346/src/inverse-kinematics/include/iDynTree/InverseKinematics.h#L766) method, it crashes...

Running the following trivial QP problem returns NaN: ``` import torch from qpth.qp import QPFunction Q = torch.tensor([[[1.]]]) q = torch.tensor([[1.]]) A_eq = torch.tensor([[[0.]]]) A_ineq = torch.tensor([[[0.]]]) b_ineq = torch.tensor([[0.]])...

Blockfactory does not re-load config file

1

If in the C++ library loaded by blockfactory a configuration file loaded from `ResourceFinder` is used, in order to see any edit to the configuration taking place it is necessary...

Fix link to the C++ tutorial in the readme

1

The link in the readme "Use the gazebo-yarp-plugins as a C++ library using CMake" linking to http://robotology.gitlab.io/docs/gazebo-yarp-plugins/master/use_as_library.html is down