Feature/external controller #529
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Beomyeong
reviewed
Dec 11, 2024
| desired_state_data_ = Eigen::VectorXd(13 + 2 * number_of_joints); | ||
| desired_control_data_ = Eigen::VectorXd(number_of_joints); | ||
| p_gains_ = Eigen::VectorXd(number_of_joints); | ||
| d_gains_ = Eigen::VectorXd(number_of_joints); |
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This way of defining size may cause memory allocation issues.
resizing the vector could be in this way
desired_state_data_.resize(13 + 2* number_of_joints);
desired_control_data_.resize(number_of_joints);
p_gains.resize(number_of_joints);
d_gains_.resize(number_of_joints);
And .resize() does not set the variable to be zero. So, using desired_state_data_.setZero() would be safe.
| desired_joint_velocities_ = Eigen::VectorXd(number_of_joints_); | ||
| desired_joint_torques_ = Eigen::VectorXd(number_of_joints_); | ||
| desired_joint_stiffnesses_ = Eigen::VectorXd(number_of_joints_); | ||
| desired_joint_damping_ = Eigen::VectorXd(number_of_joints_); |
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use .resize(Number_of_size); instead using Eigen::VectorXd(#). This may cause the memory issue.
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