fix some NaN #2332
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fix some NaN #2332
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fix for `-DINITIALIZE_WITH_NAN`: ``` …/pinocchio/unittest/constrained-dynamics.cpp(1512): error: in "Test/test_sparse_forward_dynamics_in_contact_specifying_joint2id_case3D": check contact_force.isApprox(-contact_force_bis) has failed contact_force: 6.13593 2.26573 -1.29027 nan nan nan contact_force_bis: -6.13593 -2.26573 1.29027 0 0 0 cdata.c1Mc2: ```
fix test-cpp-constraint-variants with `-DINITIALIZE_WITH_NAN`: ``` Running 2 test cases... …/pinocchio/unittest/constraint-variants.cpp(50): error: in "Test/contact_visitors": check ConstraintData(rcd) == ConstraintData(rcd) has failed …/pinocchio/unittest/constraint-variants.cpp(51): error: in "Test/contact_visitors": check ConstraintData(rcd) == rcd has failed …/pinocchio/unittest/constraint-variants.cpp(62): error: in "Test/contact_visitors": check rcd == constraint_data has failed ```
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There is some work pending on this line of works. I would prefer to wait a bit before merging this PR. |
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Hi,
Building pinocchio with
-DINITIALIZE_WITH_NAN=ONraised a couple issues.Here are simple fixes.