Getting a double free error while using Spatial Transform

[shubhamsingh91]

Hi Matthew

Thanks for the open-sourcing the library. I was just testing some basic elements of the library and getting a run-time error (Double-free or corruption) in the following code:

#include <stdio.h>
#include <vector>
#include <string>
#include <iostream>
#include "src/BenchmarkingHelpers.hpp"

using namespace grbda;
using namespace grbda::ori;
using namespace grbda::spatial;

using std::cout;
using std::endl;

template <typename T>
void print(const T& var){
    cout << var << endl;
    cout << "---------------" << endl;
}

template <typename T>
void print(const T& var, const std::string& var_name){
    cout << var_name << " = " << var << endl;
    cout << "---------------" << endl;
}

int main(){

// cout << "Testing out simple objects/functions in GRBDA---" << endl;
// cout << "---------------Testing Cpptypes ------" << endl;

// RotMat<double> m1;
// m1.setOnes();
// print(m1);

// Vec4<float> v1;
// v1.setRandom();
// print(v1);

// DVec<int> d1;
// d1.resize(12);
// d1.setRandom();
// print(d1);

// d1.resize(2);
// print(d1);

// print("Testing Orientation Tools!");

// // rotx
// Mat3<float> Mx = coordinateRotation<float>(CoordinateAxis::X, 0.1);
// Mat3<float> My = coordinateRotation<float>(CoordinateAxis::Y, 0.2);
// Mat3<float> Mz = coordinateRotation<float>(CoordinateAxis::Z, 0.3);

// Mat3<float> Mfinal;
// Mfinal = Mx*My*Mz;
// print(Mfinal,"Mfinal");

// Vec3<float> vec_rpy{0.1,0.2,0.3};

// Mat3<float> Mfinal2 = rpyToRotMat(vec_rpy);
// print(Mfinal2,"Mfinal2");

// print(Mfinal-Mfinal2,"Mfinal-Mfinal2");
// print(vectorToSkewMat(vec_rpy),"skew(vecrpy)");

// Quat<float> q1 = rotationMatrixToQuaternion(Mfinal2);
// print(q1,"q(Mfinal2)");

// Mat3<float> Mfinal3 = quaternionToRotationMatrix(q1);
// print(Mfinal3, "Mfinal3");

// Vec3<float> om = {0.1,0.1,0.1};
// float dt {0.001};
// Quat<float> q2 = integrateQuat(q1,om,dt);
// print(q1,"q1");
// print(q2,"q2");

// print("---------------Testing Spatial Objects----");
// Transform<float> T1;
// T1.setIdentity();

// auto M4 = T1.getRotation();
// print(M4,"T1 rot");

// auto v4 = T1.getTranslation();
// print(v4,"v4");
// auto M5 = T1.toMatrix();

// print(M5,"M5");

// Transform<float> T2{Mfinal,vec_rpy};
// print(T2.getRotation(),"T2 rotation");
// print(T2.getTranslation(),"T2 translation");
// SVec<float> v6 {0.1,0.1,0.1,0.2,0.2,0.2};

// print(v6);
// auto v7 = T2.transformMotionVector(v6);
// print(v7,"v7");

D6Mat <float> D1;
D1.resize(6,2);
D1.setRandom();
print(D1,"D1");

 Transform<float> T3;
 T3.setIdentity();
 auto D2 = T3.transformMotionSubspace(D1);
 
 print(D2,"D2");




return 0;

}

I dont seem to find any dangling reference in the TransformMotionSubspace, but the error is generated from there. Did you have something like this while calling this function, or know what is happening?