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Remove memory allocation produced by pseudoInverse in quasiStatic functions #981

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cmastalli opened this issue Jul 30, 2021 · 0 comments
Open

Remove memory allocation produced by pseudoInverse in quasiStatic functions #981

cmastalli opened this issue Jul 30, 2021 · 0 comments

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@cmastalli
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This issue has been reported by @jcarpent in #980 (comment).
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.
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@cmastalli