Merge pull request #971 from jcarpent/devel

Fix constructor for Data, related to #970

src/multibody/data.hxx

@@ -96,7 +96,7 @@ namespace pinocchio
   , impulse_c()
   , staticRegressor(3,4*(model.njoints-1))
   , jointTorqueRegressor(model.nv,10*(model.njoints-1))
-  , kinematic_hessians(6,model.nv,model.nv)
+  , kinematic_hessians(6,std::max(1,model.nv),std::max(1,model.nv)) // the minimum size should be 1 for compatibility reasons
   {
     typedef typename Model::JointIndex JointIndex;
     

unittest/data.cpp

@@ -11,28 +11,33 @@
 
 using namespace pinocchio;
 
-BOOST_AUTO_TEST_SUITE ( BOOST_TEST_MODULE )
+BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
 
+  BOOST_AUTO_TEST_CASE(test_empty_model)
+  {
+    Model empty_model;
+    Data empty_data(empty_model);
+  }
 
   BOOST_AUTO_TEST_CASE(test_data_start_idx_v_fromRow)
-   {
-     Model model;
-     buildModels::humanoidRandom(model);
-     
-     Data data(model);
-     
-     for(Model::JointIndex joint_id = 1; joint_id < (Model::JointIndex)model.njoints; ++joint_id)
-     {
-       const int nv_joint = model.joints[joint_id].nv();
-       const int idx_joint = model.joints[joint_id].idx_v();
-       
-       for(int k = 0; k < nv_joint; ++k)
-       {
-         BOOST_CHECK(data.start_idx_v_fromRow[(size_t)(idx_joint+k)] == idx_joint);
-         BOOST_CHECK(data.end_idx_v_fromRow[(size_t)(idx_joint+k)] == idx_joint+nv_joint-1);
-       }
-     }
-   }
+  {
+    Model model;
+    buildModels::humanoidRandom(model);
+    
+    Data data(model);
+    
+    for(Model::JointIndex joint_id = 1; joint_id < (Model::JointIndex)model.njoints; ++joint_id)
+    {
+      const int nv_joint = model.joints[joint_id].nv();
+      const int idx_joint = model.joints[joint_id].idx_v();
+      
+      for(int k = 0; k < nv_joint; ++k)
+      {
+        BOOST_CHECK(data.start_idx_v_fromRow[(size_t)(idx_joint+k)] == idx_joint);
+        BOOST_CHECK(data.end_idx_v_fromRow[(size_t)(idx_joint+k)] == idx_joint+nv_joint-1);
+      }
+    }
+  }
 
   BOOST_AUTO_TEST_CASE(test_data_supports_fromRow)
   {