I am using icub 2.5 in simulation on Gazebo.
I am following all the steps in and it all works fine untill the step 7 at prepareRobot command there's a segmentation fault error
simone@IITICUBLAP249:~$ YARP_CLOCK=/clock gdb WalkingModule
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Reading symbols from WalkingModule...
(No debugging symbols found in WalkingModule)
(gdb) run
Starting program: /usr/local/bin/WalkingModule
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[New Thread 0x7fffed368700 (LWP 25155)]
[INFO] |yarp.os.Port|/IITICUBLAP249//usr/local/bin/WalkingModule/25145/clock:i| Port /IITICUBLAP249//usr/local/bin/WalkingModule/25145/clock:i active at tcp://10.240.10.22:10161/
[INFO] |yarp.os.Network| Success: port-to-port persistent connection added.
[INFO] |yarp.os.Time| Waiting for clock server to start broadcasting data ...
[New Thread 0x7fffecb67700 (LWP 25163)]
[INFO] |yarp.os.impl.PortCoreInputUnit|/IITICUBLAP249//usr/local/bin/WalkingModule/25145/clock:i| Receiving input from /clock to /IITICUBLAP249//usr/local/bin/WalkingModule/25145/clock:i using tcp
[DEBUG] |yarp.dev.PolyDriver|remotecontrolboardremapper| Parameters are (REMOTE_CONTROLBOARD_OPTIONS (writeStrict on)) (axesNames (torso_pitch torso_roll torso_yaw l_shoulder_pitch l_shoulder_roll l_shoulder_yaw l_elbow r_shoulder_pitch r_shoulder_roll r_shoulder_yaw r_elbow l_hip_pitch l_hip_roll l_hip_yaw l_knee l_ankle_pitch l_ankle_roll r_hip_pitch r_hip_roll r_hip_yaw r_knee r_ankle_pitch r_ankle_roll)) (device remotecontrolboardremapper) (localPortPrefix "/walking-coordinator/remoteControlBoard") (remoteControlBoards ("/icubSim/torso" "/icubSim/left_arm" "/icubSim/right_arm" "/icubSim/left_leg" "/icubSim/right_leg"))
[DEBUG] |yarp.dev.PolyDriver|remote_controlboard| Parameters are (device remote_controlboard) (local "/walking-coordinator/remoteControlBoard/icubSim/torso") (remote "/icubSim/torso") (writeStrict on)
[INFO] |yarp.device.remote_controlboard| RemoteControlBoard is ENABLING the writeStrict option for all commands
[New Thread 0x7fffe7fff700 (LWP 25172)]
[INFO] |yarp.os.Port|/walking-coordinator/remoteControlBoard/icubSim/torso/rpc:o| Port /walking-coordinator/remoteControlBoard/icubSim/torso/rpc:o active at tcp://10.240.10.22:10138/
[New Thread 0x7fffe77fe700 (LWP 25179)]
[INFO] |yarp.os.Port|/walking-coordinator/remoteControlBoard/icubSim/torso/command:o| Port /walking-coordinator/remoteControlBoard/icubSim/torso/command:o active at tcp://10.240.10.22:10139/
[New Thread 0x7fffe6ffd700 (LWP 25186)]
[INFO] |yarp.os.Port|/walking-coordinator/remoteControlBoard/icubSim/torso/stateExt:i| Port /walking-coordinator/remoteControlBoard/icubSim/torso/stateExt:i active at tcp://10.240.10.22:10140/
[New Thread 0x7fffe67fc700 (LWP 25187)]
[New Thread 0x7fffe5ffb700 (LWP 25190)]
[Thread 0x7fffe5ffb700 (LWP 25190) exited]
[New Thread 0x7fffe57fa700 (LWP 25191)]
[INFO] |yarp.os.impl.PortCoreOutputUnit|/walking-coordinator/remoteControlBoard/icubSim/torso/rpc:o| Sending output from /walking-coordinator/remoteControlBoard/icubSim/torso/rpc:o to /icubSim/torso/rpc:i using tcp
[Thread 0x7fffe57fa700 (LWP 25191) exited]
[New Thread 0x7fffe5ffb700 (LWP 25196)]
[Thread 0x7fffe5ffb700 (LWP 25196) exited]
[New Thread 0x7fffe4ff9700 (LWP 25197)]
[INFO] |yarp.os.impl.PortCoreOutputUnit|/walking-coordinator/remoteControlBoard/icubSim/torso/command:o| Sending output from /walking-coordinator/remoteControlBoard/icubSim/torso/command:o to /icubSim/torso/command:i using udp
[Thread 0x7fffe4ff9700 (LWP 25197) exited]
[New Thread 0x7fffe5ffb700 (LWP 25208)]
[Thread 0x7fffe5ffb700 (LWP 25208) exited]
[New Thread 0x7fffcbfff700 (LWP 25209)]
[INFO] |yarp.os.impl.PortCoreInputUnit|/walking-coordinator/remoteControlBoard/icubSim/torso/stateExt:i| Receiving input from /icubSim/torso/stateExt:o to /walking-coordinator/remoteControlBoard/icubSim/torso/stateExt:i using udp
[INFO] |yarp.dev.PolyDriver|remote_controlboard| Created device <remote_controlboard>. See C++ class RemoteControlBoard for documentation.
[DEBUG] |yarp.dev.PolyDriver|remote_controlboard| Parameters are (device remote_controlboard) (local "/walking-coordinator/remoteControlBoard/icubSim/left_arm") (remote "/icubSim/left_arm") (writeStrict on)
[INFO] |yarp.device.remote_controlboard| RemoteControlBoard is ENABLING the writeStrict option for all commands
[New Thread 0x7fffe5ffb700 (LWP 25216)]
[INFO] |yarp.os.Port|/walking-coordinator/remoteControlBoard/icubSim/left_arm/rpc:o| Port /walking-coordinator/remoteControlBoard/icubSim/left_arm/rpc:o active at tcp://10.240.10.22:10141/
[New Thread 0x7fffcb7fe700 (LWP 25224)]
[INFO] |yarp.os.Port|/walking-coordinator/remoteControlBoard/icubSim/left_arm/command:o| Port /walking-coordinator/remoteControlBoard/icubSim/left_arm/command:o active at tcp://10.240.10.22:10142/
[New Thread 0x7fffcaffd700 (LWP 25231)]
[INFO] |yarp.os.Port|/walking-coordinator/remoteControlBoard/icubSim/left_arm/stateExt:i| Port /walking-coordinator/remoteControlBoard/icubSim/left_arm/stateExt:i active at tcp://10.240.10.22:10143/
[New Thread 0x7fffca7fc700 (LWP 25232)]
[New Thread 0x7fffc9ffb700 (LWP 25235)]
[Thread 0x7fffc9ffb700 (LWP 25235) exited]
[New Thread 0x7fffc97fa700 (LWP 25236)]
[INFO] |yarp.os.impl.PortCoreOutputUnit|/walking-coordinator/remoteControlBoard/icubSim/left_arm/rpc:o| Sending output from /walking-coordinator/remoteControlBoard/icubSim/left_arm/rpc:o to /icubSim/left_arm/rpc:i using tcp
[Thread 0x7fffc97fa700 (LWP 25236) exited]
[New Thread 0x7fffc9ffb700 (LWP 25241)]
[Thread 0x7fffc9ffb700 (LWP 25241) exited]
[New Thread 0x7fffc8ff9700 (LWP 25242)]
[INFO] |yarp.os.impl.PortCoreOutputUnit|/walking-coordinator/remoteControlBoard/icubSim/left_arm/command:o| Sending output from /walking-coordinator/remoteControlBoard/icubSim/left_arm/command:o to /icubSim/left_arm/command:i using udp
[Thread 0x7fffc8ff9700 (LWP 25242) exited]
[New Thread 0x7fffc9ffb700 (LWP 25253)]
[Thread 0x7fffc9ffb700 (LWP 25253) exited]
[New Thread 0x7fffb3fff700 (LWP 25254)]
[INFO] |yarp.os.impl.PortCoreInputUnit|/walking-coordinator/remoteControlBoard/icubSim/left_arm/stateExt:i| Receiving input from /icubSim/left_arm/stateExt:o to /walking-coordinator/remoteControlBoard/icubSim/left_arm/stateExt:i using udp
[INFO] |yarp.dev.PolyDriver|remote_controlboard| Created device <remote_controlboard>. See C++ class RemoteControlBoard for documentation.
[DEBUG] |yarp.dev.PolyDriver|remote_controlboard| Parameters are (device remote_controlboard) (local "/walking-coordinator/remoteControlBoard/icubSim/right_arm") (remote "/icubSim/right_arm") (writeStrict on)
[INFO] |yarp.device.remote_controlboard| RemoteControlBoard is ENABLING the writeStrict option for all commands
[New Thread 0x7fffc9ffb700 (LWP 25261)]
[INFO] |yarp.os.Port|/walking-coordinator/remoteControlBoard/icubSim/right_arm/rpc:o| Port /walking-coordinator/remoteControlBoard/icubSim/right_arm/rpc:o active at tcp://10.240.10.22:10144/
[New Thread 0x7fffb37fe700 (LWP 25269)]
[INFO] |yarp.os.Port|/walking-coordinator/remoteControlBoard/icubSim/right_arm/command:o| Port /walking-coordinator/remoteControlBoard/icubSim/right_arm/command:o active at tcp://10.240.10.22:10145/
[New Thread 0x7fffb2ffd700 (LWP 25276)]
[INFO] |yarp.os.Port|/walking-coordinator/remoteControlBoard/icubSim/right_arm/stateExt:i| Port /walking-coordinator/remoteControlBoard/icubSim/right_arm/stateExt:i active at tcp://10.240.10.22:10146/
[New Thread 0x7fffb27fc700 (LWP 25277)]
[New Thread 0x7fffb1ffb700 (LWP 25280)]
[Thread 0x7fffb1ffb700 (LWP 25280) exited]
[New Thread 0x7fffb17fa700 (LWP 25281)]
[INFO] |yarp.os.impl.PortCoreOutputUnit|/walking-coordinator/remoteControlBoard/icubSim/right_arm/rpc:o| Sending output from /walking-coordinator/remoteControlBoard/icubSim/right_arm/rpc:o to /icubSim/right_arm/rpc:i using tcp
[Thread 0x7fffb17fa700 (LWP 25281) exited]
[New Thread 0x7fffb1ffb700 (LWP 25286)]
[Thread 0x7fffb1ffb700 (LWP 25286) exited]
[New Thread 0x7fffb0ff9700 (LWP 25287)]
[INFO] |yarp.os.impl.PortCoreOutputUnit|/walking-coordinator/remoteControlBoard/icubSim/right_arm/command:o| Sending output from /walking-coordinator/remoteControlBoard/icubSim/right_arm/command:o to /icubSim/right_arm/command:i using udp
[Thread 0x7fffb0ff9700 (LWP 25287) exited]
[New Thread 0x7fffb1ffb700 (LWP 25298)]
[Thread 0x7fffb1ffb700 (LWP 25298) exited]
[New Thread 0x7fff9bfff700 (LWP 25299)]
[INFO] |yarp.os.impl.PortCoreInputUnit|/walking-coordinator/remoteControlBoard/icubSim/right_arm/stateExt:i| Receiving input from /icubSim/right_arm/stateExt:o to /walking-coordinator/remoteControlBoard/icubSim/right_arm/stateExt:i using udp
[INFO] |yarp.dev.PolyDriver|remote_controlboard| Created device <remote_controlboard>. See C++ class RemoteControlBoard for documentation.
[DEBUG] |yarp.dev.PolyDriver|remote_controlboard| Parameters are (device remote_controlboard) (local "/walking-coordinator/remoteControlBoard/icubSim/left_leg") (remote "/icubSim/left_leg") (writeStrict on)
[INFO] |yarp.device.remote_controlboard| RemoteControlBoard is ENABLING the writeStrict option for all commands
[New Thread 0x7fffb1ffb700 (LWP 25307)]
[INFO] |yarp.os.Port|/walking-coordinator/remoteControlBoard/icubSim/left_leg/rpc:o| Port /walking-coordinator/remoteControlBoard/icubSim/left_leg/rpc:o active at tcp://10.240.10.22:10147/
[New Thread 0x7fff9b7fe700 (LWP 25314)]
[INFO] |yarp.os.Port|/walking-coordinator/remoteControlBoard/icubSim/left_leg/command:o| Port /walking-coordinator/remoteControlBoard/icubSim/left_leg/command:o active at tcp://10.240.10.22:10148/
[New Thread 0x7fff9affd700 (LWP 25321)]
[INFO] |yarp.os.Port|/walking-coordinator/remoteControlBoard/icubSim/left_leg/stateExt:i| Port /walking-coordinator/remoteControlBoard/icubSim/left_leg/stateExt:i active at tcp://10.240.10.22:10149/
[New Thread 0x7fff9a7fc700 (LWP 25322)]
[New Thread 0x7fff99ffb700 (LWP 25325)]
[Thread 0x7fff99ffb700 (LWP 25325) exited]
[New Thread 0x7fff997fa700 (LWP 25326)]
[INFO] |yarp.os.impl.PortCoreOutputUnit|/walking-coordinator/remoteControlBoard/icubSim/left_leg/rpc:o| Sending output from /walking-coordinator/remoteControlBoard/icubSim/left_leg/rpc:o to /icubSim/left_leg/rpc:i using tcp
[Thread 0x7fff997fa700 (LWP 25326) exited]
[New Thread 0x7fff99ffb700 (LWP 25331)]
[Thread 0x7fff99ffb700 (LWP 25331) exited]
[New Thread 0x7fff98ff9700 (LWP 25332)]
[INFO] |yarp.os.impl.PortCoreOutputUnit|/walking-coordinator/remoteControlBoard/icubSim/left_leg/command:o| Sending output from /walking-coordinator/remoteControlBoard/icubSim/left_leg/command:o to /icubSim/left_leg/command:i using udp
[Thread 0x7fff98ff9700 (LWP 25332) exited]
[New Thread 0x7fff99ffb700 (LWP 25343)]
[Thread 0x7fff99ffb700 (LWP 25343) exited]
[New Thread 0x7fff83fff700 (LWP 25344)]
[INFO] |yarp.os.impl.PortCoreInputUnit|/walking-coordinator/remoteControlBoard/icubSim/left_leg/stateExt:i| Receiving input from /icubSim/left_leg/stateExt:o to /walking-coordinator/remoteControlBoard/icubSim/left_leg/stateExt:i using udp
[INFO] |yarp.dev.PolyDriver|remote_controlboard| Created device <remote_controlboard>. See C++ class RemoteControlBoard for documentation.
[DEBUG] |yarp.dev.PolyDriver|remote_controlboard| Parameters are (device remote_controlboard) (local "/walking-coordinator/remoteControlBoard/icubSim/right_leg") (remote "/icubSim/right_leg") (writeStrict on)
[INFO] |yarp.device.remote_controlboard| RemoteControlBoard is ENABLING the writeStrict option for all commands
[New Thread 0x7fff99ffb700 (LWP 25352)]
[INFO] |yarp.os.Port|/walking-coordinator/remoteControlBoard/icubSim/right_leg/rpc:o| Port /walking-coordinator/remoteControlBoard/icubSim/right_leg/rpc:o active at tcp://10.240.10.22:10150/
[New Thread 0x7fff837fe700 (LWP 25359)]
[INFO] |yarp.os.Port|/walking-coordinator/remoteControlBoard/icubSim/right_leg/command:o| Port /walking-coordinator/remoteControlBoard/icubSim/right_leg/command:o active at tcp://10.240.10.22:10151/
[New Thread 0x7fff82ffd700 (LWP 25366)]
[INFO] |yarp.os.Port|/walking-coordinator/remoteControlBoard/icubSim/right_leg/stateExt:i| Port /walking-coordinator/remoteControlBoard/icubSim/right_leg/stateExt:i active at tcp://10.240.10.22:10152/
[New Thread 0x7fff827fc700 (LWP 25367)]
[New Thread 0x7fff81ffb700 (LWP 25370)]
[Thread 0x7fff81ffb700 (LWP 25370) exited]
[New Thread 0x7fff817fa700 (LWP 25371)]
[INFO] |yarp.os.impl.PortCoreOutputUnit|/walking-coordinator/remoteControlBoard/icubSim/right_leg/rpc:o| Sending output from /walking-coordinator/remoteControlBoard/icubSim/right_leg/rpc:o to /icubSim/right_leg/rpc:i using tcp
[Thread 0x7fff817fa700 (LWP 25371) exited]
[New Thread 0x7fff81ffb700 (LWP 25376)]
[Thread 0x7fff81ffb700 (LWP 25376) exited]
[New Thread 0x7fff80ff9700 (LWP 25377)]
[INFO] |yarp.os.impl.PortCoreOutputUnit|/walking-coordinator/remoteControlBoard/icubSim/right_leg/command:o| Sending output from /walking-coordinator/remoteControlBoard/icubSim/right_leg/command:o to /icubSim/right_leg/command:i using udp
[Thread 0x7fff80ff9700 (LWP 25377) exited]
[New Thread 0x7fff81ffb700 (LWP 25388)]
[Thread 0x7fff81ffb700 (LWP 25388) exited]
[New Thread 0x7fff6bfff700 (LWP 25389)]
[INFO] |yarp.os.impl.PortCoreInputUnit|/walking-coordinator/remoteControlBoard/icubSim/right_leg/stateExt:i| Receiving input from /icubSim/right_leg/stateExt:o to /walking-coordinator/remoteControlBoard/icubSim/right_leg/stateExt:i using udp
[INFO] |yarp.dev.PolyDriver|remote_controlboard| Created device <remote_controlboard>. See C++ class RemoteControlBoard for documentation.
[INFO] |yarp.dev.PolyDriver|remotecontrolboardremapper| Created device <remotecontrolboardremapper>. See C++ class RemoteControlBoardRemapper for documentation.
[New Thread 0x7fff81ffb700 (LWP 25397)]
[INFO] |yarp.os.Port|/walking-coordinator/left_foot/cartesianEndEffectorWrench:i| Port /walking-coordinator/left_foot/cartesianEndEffectorWrench:i active at tcp://10.240.10.22:10153/
[New Thread 0x7fff6b7fe700 (LWP 25403)]
[INFO] |yarp.os.impl.PortCoreInputUnit|/walking-coordinator/left_foot/cartesianEndEffectorWrench:i| Receiving input from /wholeBodyDynamics/left_foot/cartesianEndEffectorWrench:o to /walking-coordinator/left_foot/cartesianEndEffectorWrench:i using tcp
[New Thread 0x7fff6affd700 (LWP 25411)]
[INFO] |yarp.os.Port|/walking-coordinator/right_foot/cartesianEndEffectorWrench:i| Port /walking-coordinator/right_foot/cartesianEndEffectorWrench:i active at tcp://10.240.10.22:10154/
[New Thread 0x7fff6a7fc700 (LWP 25417)]
[INFO] |yarp.os.impl.PortCoreInputUnit|/walking-coordinator/right_foot/cartesianEndEffectorWrench:i| Receiving input from /wholeBodyDynamics/right_foot/cartesianEndEffectorWrench:o to /walking-coordinator/right_foot/cartesianEndEffectorWrench:i using tcp
[INFO] [WalkingModule::setRobotModel] The model is found in: /usr/local/share/iCub/robots/iCubGazeboV2_5/model.urdf
[New Thread 0x7fff69ffb700 (LWP 25425)]
[INFO] |yarp.os.Port|/walking-coordinator/rpc| Port /walking-coordinator/rpc active at tcp://10.240.10.22:10155/
[New Thread 0x7fff697fa700 (LWP 25432)]
[INFO] |yarp.os.Port|/walking-coordinator/goal:i| Port /walking-coordinator/goal:i active at tcp://10.240.10.22:10156/
[New Thread 0x7fff68ff9700 (LWP 25433)]
[New Thread 0x7fff53fff700 (LWP 25440)]
[INFO] |yarp.os.Port|/walking-coordinator/freeSpaceEllipse:in| Port /walking-coordinator/freeSpaceEllipse:in active at tcp://10.240.10.22:10157/
[New Thread 0x7fff537fe700 (LWP 25441)]
[INFO] Loading custom PIDs
[INFO] Parsing DEFAULT PID group.
[INFO] DEFAULT PID successfully loaded
[INFO] [WalkingModule::configure] Ready to play!
[New Thread 0x7fff52ffd700 (LWP 25445)]
******************************************************************************
This program contains Ipopt, a library for large-scale nonlinear optimization.
Ipopt is released as open source code under the Eclipse Public License (EPL).
For more information visit http://projects.coin-or.org/Ipopt
******************************************************************************
--Type <RET> for more, q to quit, c to continue without paging--
Thread 63 "WalkingModule" received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0x7fff52ffd700 (LWP 25445)]
dgemm_ (TRANSA=0x7ffff48b2859 "N", TRANSB=<optimized out>, M=<optimized out>, N=<optimized out>, K=<optimized out>, ALPHA=<optimized out>, A=<optimized out>, LDA=0x7fff52ff47e0, B=0x7fffec071020,
LDB=0x7fff52ff47e0, BETA=0x7fff52ff4530, C=0x7fffec071028, LDC=0x7fff52ff47e0) at /home/simone/qpOASES/src/BLASReplacement.cpp:69
69 C[j+(*LDC)*k] -= A[j+(*LDA)*i] * B[i+(*LDB)*k];
(gdb) bt full
#0 dgemm_(char const*, char const*, la_uint_t const*, la_uint_t const*, la_uint_t const*, double const*, double const*, la_uint_t const*, double const*, la_uint_t const*, double const*, double*, la_uint_t const*)
(TRANSA=0x7ffff48b2859 "N", TRANSB=<optimized out>, M=<optimized out>, N=<optimized out>, K=<optimized out>, ALPHA=<optimized out>, A=<optimized out>, LDA=0x7fff52ff47e0, B=0x7fffec071020, LDB=0x7fff52ff47e0, BETA=0x7fff52ff4530, C=0x7fffec071028, LDC=0x7fff52ff47e0) at /home/simone/qpOASES/src/BLASReplacement.cpp:69
i = <optimized out>
j = 0
k = 0
#1 0x00007ffff4725709 in __dmumps_fac_front_aux_m_MOD_dmumps_fac_t_ldlt () at /lib/x86_64-linux-gnu/libdmumps_seq-5.2.1.so
#2 0x00007ffff473adc1 in __dmumps_fac1_ldlt_m_MOD_dmumps_fac1_ldlt () at /lib/x86_64-linux-gnu/libdmumps_seq-5.2.1.so
#3 0x00007ffff4753ad0 in __dmumps_fac_par_m_MOD_dmumps_fac_par () at /lib/x86_64-linux-gnu/libdmumps_seq-5.2.1.so
#4 0x00007ffff4834175 in dmumps_fac_b_ () at /lib/x86_64-linux-gnu/libdmumps_seq-5.2.1.so
#5 0x00007ffff47fd4f6 in dmumps_fac_driver_ () at /lib/x86_64-linux-gnu/libdmumps_seq-5.2.1.so
#6 0x00007ffff48736f9 in dmumps_ () at /lib/x86_64-linux-gnu/libdmumps_seq-5.2.1.so
#7 0x00007ffff4877e94 in dmumps_f77_ () at /lib/x86_64-linux-gnu/libdmumps_seq-5.2.1.so
#8 0x00007ffff486f820 in dmumps_c () at /lib/x86_64-linux-gnu/libdmumps_seq-5.2.1.so
#9 0x00007ffff70ca074 in Ipopt::MumpsSolverInterface::Factorization(bool, int) () at /lib/libipopt.so.1
#10 0x00007ffff70ca631 in Ipopt::MumpsSolverInterface::MultiSolve(bool, int const*, int const*, int, double*, bool, int) () at /lib/libipopt.so.1
#11 0x00007ffff70b1f3f in Ipopt::TSymLinearSolver::MultiSolve(Ipopt::SymMatrix const&, std::vector<Ipopt::SmartPtr<Ipopt::Vector const>, std::allocator<Ipopt::SmartPtr<Ipopt::Vector const> > >&, std::vector<Ipopt::SmartPtr<Ipopt::Vector>, std::allocator<Ipopt::SmartPtr<Ipopt::Vector> > >&, bool, int) () at /lib/libipopt.so.1
#12 0x00007ffff70a3ce7 in Ipopt::StdAugSystemSolver::MultiSolve(Ipopt::SymMatrix const*, double, Ipopt::Vector const*, double, Ipopt::Vector const*, double, Ipopt::Matrix const*, Ipopt::Vector const*, double, Ipopt::Matrix const*, Ipopt::Vector const*, double, std::vector<Ipopt::SmartPtr<Ipopt::Vector const>, std::allocator<Ipopt::SmartPtr<Ipopt::Vector const> > >&, std::vector<Ipopt::SmartPtr<Ipopt::Vector const>, std::allocator<Ipopt::SmartPtr<Ipopt::Vector const> > >&, std::vector<Ipopt::SmartPtr<Ipopt::Vector const>, std::allocator<Ipopt::SmartPtr<Ipopt::Vector const> > >&, std::vector<Ipopt::SmartPtr<Ipopt::Vector const>, std::allocator<Ipopt::SmartPtr<Ipopt::Vector const> > >&, std::vector<Ipopt::SmartPtr<Ipopt::Vector>, std::allocator<Ipopt::SmartPtr<Ipopt::Vector> > >&, std::vector<Ipopt::SmartPtr<Ipopt::Vector>, std::allocator<Ipopt::SmartPtr<Ipopt::Vector> > >&, std::vector<Ipopt::SmartPtr<Ipopt::Vector>, std::allocator<Ipopt::SmartPtr<Ipopt::Vector> > >&, std::vector<Ipopt::SmartPtr<Ipopt::Vector>, std::allocator<Ipopt::SmartPtr<Ipopt::Vector> > >&, bool, int) () at /lib/libipopt.so.1
#13 0x00007ffff6fe56e3 in Ipopt::AugSystemSolver::Solve(Ipopt::SymMatrix const*, double, Ipopt::Vector const*, double, Ipopt::Vector const*, double, Ipopt::Matrix const*, Ipopt::Vector const*, double, Ipopt::Matrix const*, Ipopt::Vector const*, double, Ipopt::Vector const&, Ipopt::Vector const&, Ipopt::Vector const&, Ipopt::Vector const&, Ipopt::Vector&, Ipopt::Vector&, Ipopt::Vector&, Ipopt::Vector&, bool, int) () at /lib/libipopt.so.1
#14 0x00007ffff704cca9 in Ipopt::LowRankAugSystemSolver::Solve(Ipopt::SymMatrix const*, double, Ipopt::Vector const*, double, Ipopt::Vector const*, double, Ipopt::Matrix const*, Ipopt::Vector const*, double, Ipopt::Matrix const*, Ipopt::Vector const*, double, Ipopt::Vector const&, Ipopt::Vector const&, Ipopt::Vector const&, Ipopt::Vector const&, Ipopt::Vector&, Ipopt::Vector&, Ipopt::Vector&, Ipopt::Vector&, bool, int) () at /lib/libipopt.so.1
#15 0x00007ffff703bea8 in Ipopt::LeastSquareMultipliers::CalculateMultipliers(Ipopt::Vector&, Ipopt::Vector&) () at /lib/libipopt.so.1
#16 0x00007ffff6ff3838 in Ipopt::DefaultIterateInitializer::least_square_mults(Ipopt::Journalist const&, Ipopt::IpoptNLP&, Ipopt::IpoptData&, Ipopt::IpoptCalculatedQuantities&, Ipopt::SmartPtr<Ipopt::EqMultiplierCalculator> const&, double) () at /lib/libipopt.so.1
#17 0x00007ffff6ff67e0 in Ipopt::DefaultIterateInitializer::SetInitialIterates() () at /lib/libipopt.so.1
#18 0x00007ffff700c2fa in Ipopt::IpoptAlgorithm::InitializeIterates() () at /lib/libipopt.so.1
#19 0x00007ffff700d8e7 in Ipopt::IpoptAlgorithm::Optimize(bool) () at /lib/libipopt.so.1
#20 0x00007ffff6f943f4 in Ipopt::IpoptApplication::call_optimize() () at /lib/libipopt.so.1
#21 0x00007ffff6f96d76 in Ipopt::IpoptApplication::OptimizeNLP(Ipopt::SmartPtr<Ipopt::NLP> const&, Ipopt::SmartPtr<Ipopt::AlgorithmBuilder>&) () at /lib/libipopt.so.1
#22 0x00007ffff6f8c2ec in Ipopt::IpoptApplication::OptimizeNLP(Ipopt::SmartPtr<Ipopt::NLP> const&) () at /lib/libipopt.so.1
#23 0x00007ffff6f8e54e in Ipopt::IpoptApplication::OptimizeTNLP(Ipopt::SmartPtr<Ipopt::TNLP> const&) () at /lib/libipopt.so.1
#24 0x00007ffff7d19927 in internal::kinematics::InverseKinematicsData::solveProblem() () at /lib/libidyntree-inverse-kinematics.so
#25 0x00007ffff7e3ca0a in WalkingControllers::WalkingIK::computeIK(iDynTree::Transform const&, iDynTree::Transform const&, iDynTree::Position const&, iDynTree::VectorDynSize&) ()
at /usr/local/bin/../lib/libWholeBodyControllers.so.0.5.100
#26 0x000055555558113e in WalkingControllers::WalkingModule::prepareRobot(bool) ()
#27 0x0000555555598730 in WalkingCommands::read(yarp::os::ConnectionReader&) ()
#28 0x00007ffff79b2fca in non-virtual thunk to yarp::os::impl::PortCoreAdapter::read(yarp::os::ConnectionReader&) () at /usr/local/bin/../lib/libYARP_os.so.3
#29 0x00007ffff79ab542 in yarp::os::impl::PortCore::readBlock(yarp::os::ConnectionReader&, void*, yarp::os::OutputStream*) () at /usr/local/bin/../lib/libYARP_os.so.3
#30 0x00007ffff79b7a12 in yarp::os::impl::PortCoreInputUnit::run() () at /usr/local/bin/../lib/libYARP_os.so.3
#31 0x00007ffff79cdb6d in theExecutiveBranch(void*) () at /usr/local/bin/../lib/libYARP_os.so.3
#32 0x00007ffff77126b4 in () at /lib/x86_64-linux-gnu/libstdc++.so.6
#33 0x00007ffff7269609 in start_thread (arg=<optimized out>) at pthread_create.c:477
ret = <optimized out>
pd = <optimized out>
unwind_buf =
{cancel_jmp_buf = {{jmp_buf = {140734585886464, -4927522326901364716, 140734971749582, 140734971749583, 140734971749584, 140734585882816, 4927863173702019092, 4927503966647805972}, mask_was_saved = 0}}, priv = {pad = {0x0, 0x0, 0x0, 0x0}, data = {prev = 0x0, cleanup = 0x0, canceltype = 0}}}
not_first_call = 0
#34 0x00007ffff73fe293 in clone () at ../sysdeps/unix/sysv/linux/x86_64/clone.S:95
(gdb)