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Published 20 hours ago • verified publisher icon loco-3d

Remove memory allocation produced by pseudoInverse in quasiStatic functions

Open cmastalli opened this issue 2 years ago • 0 comments

This issue has been reported by @jcarpent in https://github.com/loco-3d/crocoddyl/pull/980#discussion_r679776248. As described in that discussion thread, the solution is to store

  1. the SVD structure in the action-data structures
  2. the matrix containing the output of pseudoInverse.

Note that this has to be done in both action models: DifferentialActionModelFreeFwdDynamics and DifferentialActionModelContactFwdDynamics.

cmastalli avatar Jul 30 '21 12:07 cmastalli