Memory leaks?
Closed this issue · 11 comments
jbmouret commented
Hi
It seems that TSID is leaking quite a lot of memory. Valgrind says that for the tests/tsid-formulation:
==59085== LEAK SUMMARY:
==59085== definitely lost: 229,104 bytes in 17 blocks
==59085== indirectly lost: 2,912,485 bytes in 1,897 blocks
==59085== possibly lost: 6,816 bytes in 1 blocks
==59085== still reachable: 72,704 bytes in 1 blocks
==59085== suppressed: 0 bytes in 0 blocks
==59085== Reachable blocks (those to which a pointer was found) are not shown.
==59085== To see them, rerun with: --leak-check=full --show-leak-kinds=all
=> so, about 2Mb for the test (it might look like nothing, but our code create TSID objects about 50-100k times, which means about 100Gb can be lost!
See the full report below. From a quick look, it seems that the tsid formulation calls many new, but no delete (see https://github.com/stack-of-tasks/tsid/blob/master/src/formulations/inverse-dynamics-formulation-acc-force.cpp).
=> is it "normal"? It would not be hard to call delete in the destructor or put everything in shared_ptr, I guess.
==59754== Memcheck, a memory error detector
==59754== Copyright (C) 2002-2017, and GNU GPL'd, by Julian Seward et al.
==59754== Using Valgrind-3.16.1 and LibVEX; rerun with -h for copyright info
==59754== Command: tests/tsid-formulation
==59754==
Running 4 test cases...
*** test_invdyn_formulation_acc_force_remove_contact ***
q: 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
[SolverHQuadProg.solver-eiquadprog] Resizing equality constraints from 0 to 18
[SolverHQuadProg.solver-eiquadprog] Resizing inequality constraints from 0 to 71
[SolverHQuadProg.solver-eiquadprog] Resizing Hessian from 0 to 61
Level 0
- base-dynamics: w=1, equality, 6x61
- contact_rfoot_motion_task: w=1, equality, 6x61
- contact_rfoot_force_constraint: w=1, inequality, 17x61
- contact_lfoot_motion_task: w=1, equality, 6x61
- contact_lfoot_force_constraint: w=1, inequality, 17x61
- task-joint-bounds: w=1, inequality, 37x61
Level 1
- contact_rfoot_force_reg_task: w=1e-05, equality, 6x61
- contact_lfoot_force_reg_task: w=1e-05, equality, 6x61
- task-com: w=1, equality, 3x61
- task-posture: w=0.01, equality, 31x61
- task-right-foot: w=1000, equality, 6x61
Time 0
contact_rfoot force: 392.616 contact_lfoot force: 5 task-com err: 0.1 v=0 dv=10.1726
### TEST FINISHED ###
v(37x1): [ 0.0006, 0.2, -0.004, 2e-06, -0.0004, 0.03, -0.03, -0.3, -0.003, 3e-05, 0.003, 0.3, -0.03, -0.3, 0.005, -0.0002, -0.005, 0.3, 0.05, -0.006, 0.02, 5e-05, 0.006, 2e-05, 0.0007, -9e-05, 0.001, -1e-05, -0.0001, -0.0006, 0.002, 0.02, 3e-05, 0.006, 3e-05, 0.0007, -7e-05]
Final CoM position: 0.0219732 0.00825469 0.665849
Desired CoM position: 0.0219541 0.1 0.665915
*** test_invdyn_formulation_acc_force ***
q: 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
[SolverHQuadProg.solver-eiquadprog] Resizing equality constraints from 0 to 18
[SolverHQuadProg.solver-eiquadprog] Resizing inequality constraints from 0 to 71
[SolverHQuadProg.solver-eiquadprog] Resizing Hessian from 0 to 61
nVar 61
nEq 18
nIn 71
Initial CoM position: 0.0219541 -3.46945e-18 0.665915
Initial RF position: R =
1 0 0
0 1 0
0 0 1
p = 0 -0.096 0.02996
Initial LF position: R =
1 0 0
0 1 0
0 0 1
p = 0 0.096 0.02996
Level 0
- base-dynamics: w=1, equality, 6x61
- contact_rfoot_motion_task: w=1, equality, 6x61
- contact_rfoot_force_constraint: w=1, inequality, 17x61
- contact_lfoot_motion_task: w=1, equality, 6x61
- contact_lfoot_force_constraint: w=1, inequality, 17x61
- task-joint-bounds: w=1, inequality, 37x61
Level 1
- contact_rfoot_force_reg_task: w=1e-05, equality, 6x61
- contact_lfoot_force_reg_task: w=1e-05, equality, 6x61
- task-com: w=1, equality, 3x61
- task-posture: w=0.01, equality, 31x61
Time 0
contact_rfoot err: 0 contact_lfoot err: 0 task-com err: 0.1 task-posture err: 0 v=0 dv=0
dv(37x1): [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
### TEST FINISHED ###
v(37x1): [ 0.0001, 0.03, -6e-06, 1e-09, 0.0002, 0.004, -0.004, -0.05, -0.0006, -0.0001, 0.0005, 0.05, -0.004, -0.05, 0.0005, -0.0001, -0.0006, 0.05, 0.007, -0.0009, 0.003, 1e-05, 0.0009, 4e-06, 0.0001, -1e-05, 0.0002, 1e-05, -8e-06, -3e-05, 0.0006, 0.003, 8e-06, 0.0009, 4e-06, 0.0001, 4e-06]
Final CoM position: 0.0219545 0.000104108 0.665915
Desired CoM position: 0.0219541 0.1 0.665915
*** test_contact_point_invdyn_formulation_acc_force ***
[SolverHQuadProg.solver-eiquadprog] Resizing equality constraints from 0 to 18
[SolverHQuadProg.solver-eiquadprog] Resizing inequality constraints from 0 to 20
[SolverHQuadProg.solver-eiquadprog] Resizing Hessian from 0 to 26
[SolverHQuadProg.solver-eiquadprog] Resizing equality constraints from 18 to 6
contact_BL_contact force: -1.226e-17 -7.58874e-09 7.0775
contact_BR_contact force: -1.226e-17 -7.58874e-09 7.0775
contact_FL_contact force: 1.22461e-17 -7.58874e-09 6.51916
contact_FR_contact force: 1.2246e-17 -7.58874e-09 6.51916
### TEST FINISHED ###
v(14x1): [ 1e-22, 2e-10, -2e-09, 1e-05, 4e-22, 4e-23, -3e-05, 4e-05, -3e-05, 4e-05, 7e-06, -4e-05, 7e-06, -4e-05]
Final CoM position: 0.1 -0.00821487 0.266836
Desired CoM position: 0.1 -0.00821487 0.266836
*** test_invdyn_formulation_acc_force_computation_time ***
q: 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
[SolverHQuadProg.eiquadprog] Resizing equality constraints from 0 to 18
[SolverHQuadProg.eiquadprog] Resizing inequality constraints from 0 to 71
[SolverHQuadProg.eiquadprog] Resizing Hessian from 0 to 61
[SolverHQuadProgFast.eiquadprog-fast] Resizing equality constraints from 0 to 18
[SolverHQuadProgFast.eiquadprog-fast] Resizing inequality constraints from 0 to 71
[SolverHQuadProgFast.eiquadprog-fast] Resizing Hessian from 0 to 61
### TEST FINISHED ###
*** PROFILING RESULTS [ms] min avg max lastTime nSamples totalTime ***
Control cycle 1610.710 1623.882 1651.931 1610.916 10 16238.818
HQP 589.302 598.845 606.936 593.080 10 5988.451
HQP_FAST 604.893 631.785 735.278 614.590 10 6317.847
HQP_RT 4107.444 4287.081 5010.367 4107.837 10 42870.812
Problem formulation 1016.642 1023.382 1048.339 1017.208 10 10233.820
*** STATISTICS (min - avg - max - last - nSamples - total) ***
active inequalities 16.0 17.2 18.0 16.0 10 172.0
solver iterations 18.0 19.2 20.0 18.0 10 192.0
*** No errors detected
==59754==
==59754== HEAP SUMMARY:
==59754== in use at exit: 3,221,109 bytes in 1,916 blocks
==59754== total heap usage: 120,783 allocs, 118,867 frees, 25,570,004 bytes allocated
==59754==
==59754== 176 (104 direct, 72 indirect) bytes in 1 blocks are definitely lost in loss record 311 of 672
==59754== at 0x4C2DF66: malloc (vg_replace_malloc.c:307)
==59754== by 0x7A0356: Eigen::internal::aligned_malloc(unsigned long) (Memory.h:224)
==59754== by 0x7A48AF: void* Eigen::internal::conditional_aligned_malloc<true>(unsigned long) (Memory.h:305)
==59754== by 0x7A1DE8: tsid::trajectories::TrajectoryEuclidianConstant::operator new(unsigned long) (trajectory-euclidian.hpp:31)
==59754== by 0x78D8E4: tsid_formulationTest::test_invdyn_formulation_acc_force_remove_contact::test_method() (tsid-formulation.cpp:235)
==59754== by 0x78D3FF: tsid_formulationTest::test_invdyn_formulation_acc_force_remove_contact_invoker() (tsid-formulation.cpp:197)
==59754== by 0x83DE4D: boost::unit_test::ut_detail::unused boost::unit_test::ut_detail::invoker<boost::unit_test::ut_detail::unused>::invoke<void (*)()>(void (*&)()) (callback.hpp:56)
==59754== by 0x83B0E4: boost::unit_test::ut_detail::callback0_impl_t<boost::unit_test::ut_detail::unused, void (*)()>::invoke() (callback.hpp:89)
==59754== by 0x6356CB0: operator() (callback.hpp:118)
==59754== by 0x6356CB0: operator() (unit_test_monitor.ipp:41)
==59754== by 0x6356CB0: invoke<boost::unit_test::(anonymous namespace)::zero_return_wrapper_t<boost::unit_test::callback0<> > > (callback.hpp:42)
==59754== by 0x6356CB0: boost::unit_test::ut_detail::callback0_impl_t<int, boost::unit_test::(anonymous namespace)::zero_return_wrapper_t<boost::unit_test::callback0<boost::unit_test::ut_detail::unused> > >::invoke() (callback.hpp:89)
==59754== by 0x6336995: operator() (callback.hpp:118)
==59754== by 0x6336995: do_invoke<boost::scoped_ptr<boost::detail::translate_exception_base>, boost::unit_test::callback0<int> > (execution_monitor.ipp:281)
==59754== by 0x6336995: boost::execution_monitor::catch_signals(boost::unit_test::callback0<int> const&) (execution_monitor.ipp:885)
==59754== by 0x63371B2: boost::execution_monitor::execute(boost::unit_test::callback0<int> const&) (execution_monitor.ipp:1211)
==59754== by 0x6356DE1: boost::unit_test::unit_test_monitor_t::execute_and_translate(boost::unit_test::test_case const&) (unit_test_monitor.ipp:69)
==59754==
==59754== 176 (104 direct, 72 indirect) bytes in 1 blocks are definitely lost in loss record 312 of 672
==59754== at 0x4C2DF66: malloc (vg_replace_malloc.c:307)
==59754== by 0x7A0356: Eigen::internal::aligned_malloc(unsigned long) (Memory.h:224)
==59754== by 0x7A48AF: void* Eigen::internal::conditional_aligned_malloc<true>(unsigned long) (Memory.h:305)
==59754== by 0x7A1DE8: tsid::trajectories::TrajectoryEuclidianConstant::operator new(unsigned long) (trajectory-euclidian.hpp:31)
==59754== by 0x7926A6: tsid_formulationTest::test_invdyn_formulation_acc_force::test_method() (tsid-formulation.cpp:350)
==59754== by 0x79249E: tsid_formulationTest::test_invdyn_formulation_acc_force_invoker() (tsid-formulation.cpp:329)
==59754== by 0x83DE4D: boost::unit_test::ut_detail::unused boost::unit_test::ut_detail::invoker<boost::unit_test::ut_detail::unused>::invoke<void (*)()>(void (*&)()) (callback.hpp:56)
==59754== by 0x83B0E4: boost::unit_test::ut_detail::callback0_impl_t<boost::unit_test::ut_detail::unused, void (*)()>::invoke() (callback.hpp:89)
==59754== by 0x6356CB0: operator() (callback.hpp:118)
==59754== by 0x6356CB0: operator() (unit_test_monitor.ipp:41)
==59754== by 0x6356CB0: invoke<boost::unit_test::(anonymous namespace)::zero_return_wrapper_t<boost::unit_test::callback0<> > > (callback.hpp:42)
==59754== by 0x6356CB0: boost::unit_test::ut_detail::callback0_impl_t<int, boost::unit_test::(anonymous namespace)::zero_return_wrapper_t<boost::unit_test::callback0<boost::unit_test::ut_detail::unused> > >::invoke() (callback.hpp:89)
==59754== by 0x6336995: operator() (callback.hpp:118)
==59754== by 0x6336995: do_invoke<boost::scoped_ptr<boost::detail::translate_exception_base>, boost::unit_test::callback0<int> > (execution_monitor.ipp:281)
==59754== by 0x6336995: boost::execution_monitor::catch_signals(boost::unit_test::callback0<int> const&) (execution_monitor.ipp:885)
==59754== by 0x63371B2: boost::execution_monitor::execute(boost::unit_test::callback0<int> const&) (execution_monitor.ipp:1211)
==59754== by 0x6356DE1: boost::unit_test::unit_test_monitor_t::execute_and_translate(boost::unit_test::test_case const&) (unit_test_monitor.ipp:69)
==59754==
==59754== 176 (104 direct, 72 indirect) bytes in 1 blocks are definitely lost in loss record 313 of 672
==59754== at 0x4C2DF66: malloc (vg_replace_malloc.c:307)
==59754== by 0x7A0356: Eigen::internal::aligned_malloc(unsigned long) (Memory.h:224)
==59754== by 0x7A48AF: void* Eigen::internal::conditional_aligned_malloc<true>(unsigned long) (Memory.h:305)
==59754== by 0x7A1DE8: tsid::trajectories::TrajectoryEuclidianConstant::operator new(unsigned long) (trajectory-euclidian.hpp:31)
==59754== by 0x7993B5: tsid_formulationTest::test_contact_point_invdyn_formulation_acc_force::test_method() (tsid-formulation.cpp:552)
==59754== by 0x798A0B: tsid_formulationTest::test_contact_point_invdyn_formulation_acc_force_invoker() (tsid-formulation.cpp:492)
==59754== by 0x83DE4D: boost::unit_test::ut_detail::unused boost::unit_test::ut_detail::invoker<boost::unit_test::ut_detail::unused>::invoke<void (*)()>(void (*&)()) (callback.hpp:56)
==59754== by 0x83B0E4: boost::unit_test::ut_detail::callback0_impl_t<boost::unit_test::ut_detail::unused, void (*)()>::invoke() (callback.hpp:89)
==59754== by 0x6356CB0: operator() (callback.hpp:118)
==59754== by 0x6356CB0: operator() (unit_test_monitor.ipp:41)
==59754== by 0x6356CB0: invoke<boost::unit_test::(anonymous namespace)::zero_return_wrapper_t<boost::unit_test::callback0<> > > (callback.hpp:42)
==59754== by 0x6356CB0: boost::unit_test::ut_detail::callback0_impl_t<int, boost::unit_test::(anonymous namespace)::zero_return_wrapper_t<boost::unit_test::callback0<boost::unit_test::ut_detail::unused> > >::invoke() (callback.hpp:89)
==59754== by 0x6336995: operator() (callback.hpp:118)
==59754== by 0x6336995: do_invoke<boost::scoped_ptr<boost::detail::translate_exception_base>, boost::unit_test::callback0<int> > (execution_monitor.ipp:281)
==59754== by 0x6336995: boost::execution_monitor::catch_signals(boost::unit_test::callback0<int> const&) (execution_monitor.ipp:885)
==59754== by 0x63371B2: boost::execution_monitor::execute(boost::unit_test::callback0<int> const&) (execution_monitor.ipp:1211)
==59754== by 0x6356DE1: boost::unit_test::unit_test_monitor_t::execute_and_translate(boost::unit_test::test_case const&) (unit_test_monitor.ipp:69)
==59754==
==59754== 176 (104 direct, 72 indirect) bytes in 1 blocks are definitely lost in loss record 314 of 672
==59754== at 0x4C2DF66: malloc (vg_replace_malloc.c:307)
==59754== by 0x7A0356: Eigen::internal::aligned_malloc(unsigned long) (Memory.h:224)
==59754== by 0x7A48AF: void* Eigen::internal::conditional_aligned_malloc<true>(unsigned long) (Memory.h:305)
==59754== by 0x7A1DE8: tsid::trajectories::TrajectoryEuclidianConstant::operator new(unsigned long) (trajectory-euclidian.hpp:31)
==59754== by 0x79D400: tsid_formulationTest::test_invdyn_formulation_acc_force_computation_time::test_method() (tsid-formulation.cpp:673)
==59754== by 0x79D21D: tsid_formulationTest::test_invdyn_formulation_acc_force_computation_time_invoker() (tsid-formulation.cpp:655)
==59754== by 0x83DE4D: boost::unit_test::ut_detail::unused boost::unit_test::ut_detail::invoker<boost::unit_test::ut_detail::unused>::invoke<void (*)()>(void (*&)()) (callback.hpp:56)
==59754== by 0x83B0E4: boost::unit_test::ut_detail::callback0_impl_t<boost::unit_test::ut_detail::unused, void (*)()>::invoke() (callback.hpp:89)
==59754== by 0x6356CB0: operator() (callback.hpp:118)
==59754== by 0x6356CB0: operator() (unit_test_monitor.ipp:41)
==59754== by 0x6356CB0: invoke<boost::unit_test::(anonymous namespace)::zero_return_wrapper_t<boost::unit_test::callback0<> > > (callback.hpp:42)
==59754== by 0x6356CB0: boost::unit_test::ut_detail::callback0_impl_t<int, boost::unit_test::(anonymous namespace)::zero_return_wrapper_t<boost::unit_test::callback0<boost::unit_test::ut_detail::unused> > >::invoke() (callback.hpp:89)
==59754== by 0x6336995: operator() (callback.hpp:118)
==59754== by 0x6336995: do_invoke<boost::scoped_ptr<boost::detail::translate_exception_base>, boost::unit_test::callback0<int> > (execution_monitor.ipp:281)
==59754== by 0x6336995: boost::execution_monitor::catch_signals(boost::unit_test::callback0<int> const&) (execution_monitor.ipp:885)
==59754== by 0x63371B2: boost::execution_monitor::execute(boost::unit_test::callback0<int> const&) (execution_monitor.ipp:1211)
==59754== by 0x6356DE1: boost::unit_test::unit_test_monitor_t::execute_and_translate(boost::unit_test::test_case const&) (unit_test_monitor.ipp:69)
==59754==
==59754== 296 bytes in 1 blocks are possibly lost in loss record 391 of 672
==59754== at 0x4C2DF66: malloc (vg_replace_malloc.c:307)
==59754== by 0x7A0356: Eigen::internal::aligned_malloc(unsigned long) (Memory.h:224)
==59754== by 0x7A48AF: void* Eigen::internal::conditional_aligned_malloc<true>(unsigned long) (Memory.h:305)
==59754== by 0x7B0B8A: double* Eigen::internal::conditional_aligned_new_auto<double, true>(unsigned long) (Memory.h:462)
==59754== by 0x7A9AC3: Eigen::DenseStorage<double, -1, -1, 1, 0>::resize(long, long, long) (DenseStorage.h:550)
==59754== by 0x7BA8B7: Eigen::PlainObjectBase<Eigen::Matrix<double, -1, 1, 0, -1, 1> >::resize(long, long) (PlainObjectBase.h:266)
==59754== by 0x7BC6B3: void Eigen::internal::call_assignment_no_alias<Eigen::Matrix<double, -1, 1, 0, -1, 1>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, 1, 0, -1, 1> >, Eigen::internal::assign_op<double> >(Eigen::Matrix<double, -1, 1, 0, -1, 1>&, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, 1, 0, -1, 1> > const&, Eigen::internal::assign_op<double> const&) (AssignEvaluator.h:736)
==59754== by 0x7B5B97: Eigen::Matrix<double, -1, 1, 0, -1, 1>& Eigen::PlainObjectBase<Eigen::Matrix<double, -1, 1, 0, -1, 1> >::_set_noalias<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, 1, 0, -1, 1> > >(Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, 1, 0, -1, 1> > > const&) (PlainObjectBase.h:700)
==59754== by 0x5B6C784: void Eigen::PlainObjectBase<Eigen::Matrix<double, -1, 1, 0, -1, 1> >::_init1<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, 1, 0, -1, 1> >, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, 1, 0, -1, 1> > >(Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, 1, 0, -1, 1> > > const&) (PlainObjectBase.h:783)
==59754== by 0x5B6C326: Eigen::Matrix<double, -1, 1, 0, -1, 1>::Matrix<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, 1, 0, -1, 1> > >(Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, 1, 0, -1, 1> > const&) (Matrix.h:296)
==59754== by 0x5E04C1F: pinocchio::DataTpl<double, 0, pinocchio::JointCollectionDefaultTpl>::DataTpl(pinocchio::ModelTpl<double, 0, pinocchio::JointCollectionDefaultTpl> const&) (data.hxx:106)
==59754== by 0x5DFEB58: tsid::InverseDynamicsFormulationAccForce::InverseDynamicsFormulationAccForce(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, tsid::robots::RobotWrapper&, bool) (inverse-dynamics-formulation-acc-force.cpp:48)
==59754==
==59754== 848 (104 direct, 744 indirect) bytes in 1 blocks are definitely lost in loss record 469 of 672
==59754== at 0x4C2DF66: malloc (vg_replace_malloc.c:307)
==59754== by 0x7A0356: Eigen::internal::aligned_malloc(unsigned long) (Memory.h:224)
==59754== by 0x7A48AF: void* Eigen::internal::conditional_aligned_malloc<true>(unsigned long) (Memory.h:305)
==59754== by 0x7A1DE8: tsid::trajectories::TrajectoryEuclidianConstant::operator new(unsigned long) (trajectory-euclidian.hpp:31)
==59754== by 0x78D9DB: tsid_formulationTest::test_invdyn_formulation_acc_force_remove_contact::test_method() (tsid-formulation.cpp:239)
==59754== by 0x78D3FF: tsid_formulationTest::test_invdyn_formulation_acc_force_remove_contact_invoker() (tsid-formulation.cpp:197)
==59754== by 0x83DE4D: boost::unit_test::ut_detail::unused boost::unit_test::ut_detail::invoker<boost::unit_test::ut_detail::unused>::invoke<void (*)()>(void (*&)()) (callback.hpp:56)
==59754== by 0x83B0E4: boost::unit_test::ut_detail::callback0_impl_t<boost::unit_test::ut_detail::unused, void (*)()>::invoke() (callback.hpp:89)
==59754== by 0x6356CB0: operator() (callback.hpp:118)
==59754== by 0x6356CB0: operator() (unit_test_monitor.ipp:41)
==59754== by 0x6356CB0: invoke<boost::unit_test::(anonymous namespace)::zero_return_wrapper_t<boost::unit_test::callback0<> > > (callback.hpp:42)
==59754== by 0x6356CB0: boost::unit_test::ut_detail::callback0_impl_t<int, boost::unit_test::(anonymous namespace)::zero_return_wrapper_t<boost::unit_test::callback0<boost::unit_test::ut_detail::unused> > >::invoke() (callback.hpp:89)
==59754== by 0x6336995: operator() (callback.hpp:118)
==59754== by 0x6336995: do_invoke<boost::scoped_ptr<boost::detail::translate_exception_base>, boost::unit_test::callback0<int> > (execution_monitor.ipp:281)
==59754== by 0x6336995: boost::execution_monitor::catch_signals(boost::unit_test::callback0<int> const&) (execution_monitor.ipp:885)
==59754== by 0x63371B2: boost::execution_monitor::execute(boost::unit_test::callback0<int> const&) (execution_monitor.ipp:1211)
==59754== by 0x6356DE1: boost::unit_test::unit_test_monitor_t::execute_and_translate(boost::unit_test::test_case const&) (unit_test_monitor.ipp:69)
==59754==
==59754== 848 (104 direct, 744 indirect) bytes in 1 blocks are definitely lost in loss record 470 of 672
==59754== at 0x4C2DF66: malloc (vg_replace_malloc.c:307)
==59754== by 0x7A0356: Eigen::internal::aligned_malloc(unsigned long) (Memory.h:224)
==59754== by 0x7A48AF: void* Eigen::internal::conditional_aligned_malloc<true>(unsigned long) (Memory.h:305)
==59754== by 0x7A1DE8: tsid::trajectories::TrajectoryEuclidianConstant::operator new(unsigned long) (trajectory-euclidian.hpp:31)
==59754== by 0x79279D: tsid_formulationTest::test_invdyn_formulation_acc_force::test_method() (tsid-formulation.cpp:354)
==59754== by 0x79249E: tsid_formulationTest::test_invdyn_formulation_acc_force_invoker() (tsid-formulation.cpp:329)
==59754== by 0x83DE4D: boost::unit_test::ut_detail::unused boost::unit_test::ut_detail::invoker<boost::unit_test::ut_detail::unused>::invoke<void (*)()>(void (*&)()) (callback.hpp:56)
==59754== by 0x83B0E4: boost::unit_test::ut_detail::callback0_impl_t<boost::unit_test::ut_detail::unused, void (*)()>::invoke() (callback.hpp:89)
==59754== by 0x6356CB0: operator() (callback.hpp:118)
==59754== by 0x6356CB0: operator() (unit_test_monitor.ipp:41)
==59754== by 0x6356CB0: invoke<boost::unit_test::(anonymous namespace)::zero_return_wrapper_t<boost::unit_test::callback0<> > > (callback.hpp:42)
==59754== by 0x6356CB0: boost::unit_test::ut_detail::callback0_impl_t<int, boost::unit_test::(anonymous namespace)::zero_return_wrapper_t<boost::unit_test::callback0<boost::unit_test::ut_detail::unused> > >::invoke() (callback.hpp:89)
==59754== by 0x6336995: operator() (callback.hpp:118)
==59754== by 0x6336995: do_invoke<boost::scoped_ptr<boost::detail::translate_exception_base>, boost::unit_test::callback0<int> > (execution_monitor.ipp:281)
==59754== by 0x6336995: boost::execution_monitor::catch_signals(boost::unit_test::callback0<int> const&) (execution_monitor.ipp:885)
==59754== by 0x63371B2: boost::execution_monitor::execute(boost::unit_test::callback0<int> const&) (execution_monitor.ipp:1211)
==59754== by 0x6356DE1: boost::unit_test::unit_test_monitor_t::execute_and_translate(boost::unit_test::test_case const&) (unit_test_monitor.ipp:69)
==59754==
==59754== 848 (104 direct, 744 indirect) bytes in 1 blocks are definitely lost in loss record 471 of 672
==59754== at 0x4C2DF66: malloc (vg_replace_malloc.c:307)
==59754== by 0x7A0356: Eigen::internal::aligned_malloc(unsigned long) (Memory.h:224)
==59754== by 0x7A48AF: void* Eigen::internal::conditional_aligned_malloc<true>(unsigned long) (Memory.h:305)
==59754== by 0x7A1DE8: tsid::trajectories::TrajectoryEuclidianConstant::operator new(unsigned long) (trajectory-euclidian.hpp:31)
==59754== by 0x79D4F7: tsid_formulationTest::test_invdyn_formulation_acc_force_computation_time::test_method() (tsid-formulation.cpp:677)
==59754== by 0x79D21D: tsid_formulationTest::test_invdyn_formulation_acc_force_computation_time_invoker() (tsid-formulation.cpp:655)
==59754== by 0x83DE4D: boost::unit_test::ut_detail::unused boost::unit_test::ut_detail::invoker<boost::unit_test::ut_detail::unused>::invoke<void (*)()>(void (*&)()) (callback.hpp:56)
==59754== by 0x83B0E4: boost::unit_test::ut_detail::callback0_impl_t<boost::unit_test::ut_detail::unused, void (*)()>::invoke() (callback.hpp:89)
==59754== by 0x6356CB0: operator() (callback.hpp:118)
==59754== by 0x6356CB0: operator() (unit_test_monitor.ipp:41)
==59754== by 0x6356CB0: invoke<boost::unit_test::(anonymous namespace)::zero_return_wrapper_t<boost::unit_test::callback0<> > > (callback.hpp:42)
==59754== by 0x6356CB0: boost::unit_test::ut_detail::callback0_impl_t<int, boost::unit_test::(anonymous namespace)::zero_return_wrapper_t<boost::unit_test::callback0<boost::unit_test::ut_detail::unused> > >::invoke() (callback.hpp:89)
==59754== by 0x6336995: operator() (callback.hpp:118)
==59754== by 0x6336995: do_invoke<boost::scoped_ptr<boost::detail::translate_exception_base>, boost::unit_test::callback0<int> > (execution_monitor.ipp:281)
==59754== by 0x6336995: boost::execution_monitor::catch_signals(boost::unit_test::callback0<int> const&) (execution_monitor.ipp:885)
==59754== by 0x63371B2: boost::execution_monitor::execute(boost::unit_test::callback0<int> const&) (execution_monitor.ipp:1211)
==59754== by 0x6356DE1: boost::unit_test::unit_test_monitor_t::execute_and_translate(boost::unit_test::test_case const&) (unit_test_monitor.ipp:69)
==59754==
==59754== 16,271 (296 direct, 15,975 indirect) bytes in 1 blocks are definitely lost in loss record 624 of 672
==59754== at 0x4C2DF66: malloc (vg_replace_malloc.c:307)
==59754== by 0x7A0356: Eigen::internal::aligned_malloc(unsigned long) (Memory.h:224)
==59754== by 0x7A48AF: void* Eigen::internal::conditional_aligned_malloc<true>(unsigned long) (Memory.h:305)
==59754== by 0x5C3EF21: tsid::solvers::SolverHQuadProg::operator new(unsigned long) (solver-HQP-eiquadprog.hpp:34)
==59754== by 0x5C3EE77: tsid::solvers::SolverHQPFactory::createNewSolver(tsid::solvers::SolverHQP, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) (solver-HQP-factory.cpp:35)
==59754== by 0x79992D: tsid_formulationTest::test_contact_point_invdyn_formulation_acc_force::test_method() (tsid-formulation.cpp:580)
==59754== by 0x798A0B: tsid_formulationTest::test_contact_point_invdyn_formulation_acc_force_invoker() (tsid-formulation.cpp:492)
==59754== by 0x83DE4D: boost::unit_test::ut_detail::unused boost::unit_test::ut_detail::invoker<boost::unit_test::ut_detail::unused>::invoke<void (*)()>(void (*&)()) (callback.hpp:56)
==59754== by 0x83B0E4: boost::unit_test::ut_detail::callback0_impl_t<boost::unit_test::ut_detail::unused, void (*)()>::invoke() (callback.hpp:89)
==59754== by 0x6356CB0: operator() (callback.hpp:118)
==59754== by 0x6356CB0: operator() (unit_test_monitor.ipp:41)
==59754== by 0x6356CB0: invoke<boost::unit_test::(anonymous namespace)::zero_return_wrapper_t<boost::unit_test::callback0<> > > (callback.hpp:42)
==59754== by 0x6356CB0: boost::unit_test::ut_detail::callback0_impl_t<int, boost::unit_test::(anonymous namespace)::zero_return_wrapper_t<boost::unit_test::callback0<boost::unit_test::ut_detail::unused> > >::invoke() (callback.hpp:89)
==59754== by 0x6336995: operator() (callback.hpp:118)
==59754== by 0x6336995: do_invoke<boost::scoped_ptr<boost::detail::translate_exception_base>, boost::unit_test::callback0<int> > (execution_monitor.ipp:281)
==59754== by 0x6336995: boost::execution_monitor::catch_signals(boost::unit_test::callback0<int> const&) (execution_monitor.ipp:885)
==59754== by 0x63371B2: boost::execution_monitor::execute(boost::unit_test::callback0<int> const&) (execution_monitor.ipp:1211)
==59754==
==59754== 111,040 (296 direct, 110,744 indirect) bytes in 1 blocks are definitely lost in loss record 660 of 672
==59754== at 0x4C2DF66: malloc (vg_replace_malloc.c:307)
==59754== by 0x7A0356: Eigen::internal::aligned_malloc(unsigned long) (Memory.h:224)
==59754== by 0x7A48AF: void* Eigen::internal::conditional_aligned_malloc<true>(unsigned long) (Memory.h:305)
==59754== by 0x5C3EF21: tsid::solvers::SolverHQuadProg::operator new(unsigned long) (solver-HQP-eiquadprog.hpp:34)
==59754== by 0x5C3EE77: tsid::solvers::SolverHQPFactory::createNewSolver(tsid::solvers::SolverHQP, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) (solver-HQP-factory.cpp:35)
==59754== by 0x79D596: tsid_formulationTest::test_invdyn_formulation_acc_force_computation_time::test_method() (tsid-formulation.cpp:682)
==59754== by 0x79D21D: tsid_formulationTest::test_invdyn_formulation_acc_force_computation_time_invoker() (tsid-formulation.cpp:655)
==59754== by 0x83DE4D: boost::unit_test::ut_detail::unused boost::unit_test::ut_detail::invoker<boost::unit_test::ut_detail::unused>::invoke<void (*)()>(void (*&)()) (callback.hpp:56)
==59754== by 0x83B0E4: boost::unit_test::ut_detail::callback0_impl_t<boost::unit_test::ut_detail::unused, void (*)()>::invoke() (callback.hpp:89)
==59754== by 0x6356CB0: operator() (callback.hpp:118)
==59754== by 0x6356CB0: operator() (unit_test_monitor.ipp:41)
==59754== by 0x6356CB0: invoke<boost::unit_test::(anonymous namespace)::zero_return_wrapper_t<boost::unit_test::callback0<> > > (callback.hpp:42)
==59754== by 0x6356CB0: boost::unit_test::ut_detail::callback0_impl_t<int, boost::unit_test::(anonymous namespace)::zero_return_wrapper_t<boost::unit_test::callback0<boost::unit_test::ut_detail::unused> > >::invoke() (callback.hpp:89)
==59754== by 0x6336995: operator() (callback.hpp:118)
==59754== by 0x6336995: do_invoke<boost::scoped_ptr<boost::detail::translate_exception_base>, boost::unit_test::callback0<int> > (execution_monitor.ipp:281)
==59754== by 0x6336995: boost::execution_monitor::catch_signals(boost::unit_test::callback0<int> const&) (execution_monitor.ipp:885)
==59754== by 0x63371B2: boost::execution_monitor::execute(boost::unit_test::callback0<int> const&) (execution_monitor.ipp:1211)
==59754==
==59754== 111,071 (296 direct, 110,775 indirect) bytes in 1 blocks are definitely lost in loss record 661 of 672
==59754== at 0x4C2DF66: malloc (vg_replace_malloc.c:307)
==59754== by 0x7A0356: Eigen::internal::aligned_malloc(unsigned long) (Memory.h:224)
==59754== by 0x7A48AF: void* Eigen::internal::conditional_aligned_malloc<true>(unsigned long) (Memory.h:305)
==59754== by 0x5C3EF21: tsid::solvers::SolverHQuadProg::operator new(unsigned long) (solver-HQP-eiquadprog.hpp:34)
==59754== by 0x5C3EE77: tsid::solvers::SolverHQPFactory::createNewSolver(tsid::solvers::SolverHQP, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) (solver-HQP-factory.cpp:35)
==59754== by 0x78DA7A: tsid_formulationTest::test_invdyn_formulation_acc_force_remove_contact::test_method() (tsid-formulation.cpp:244)
==59754== by 0x78D3FF: tsid_formulationTest::test_invdyn_formulation_acc_force_remove_contact_invoker() (tsid-formulation.cpp:197)
==59754== by 0x83DE4D: boost::unit_test::ut_detail::unused boost::unit_test::ut_detail::invoker<boost::unit_test::ut_detail::unused>::invoke<void (*)()>(void (*&)()) (callback.hpp:56)
==59754== by 0x83B0E4: boost::unit_test::ut_detail::callback0_impl_t<boost::unit_test::ut_detail::unused, void (*)()>::invoke() (callback.hpp:89)
==59754== by 0x6356CB0: operator() (callback.hpp:118)
==59754== by 0x6356CB0: operator() (unit_test_monitor.ipp:41)
==59754== by 0x6356CB0: invoke<boost::unit_test::(anonymous namespace)::zero_return_wrapper_t<boost::unit_test::callback0<> > > (callback.hpp:42)
==59754== by 0x6356CB0: boost::unit_test::ut_detail::callback0_impl_t<int, boost::unit_test::(anonymous namespace)::zero_return_wrapper_t<boost::unit_test::callback0<boost::unit_test::ut_detail::unused> > >::invoke() (callback.hpp:89)
==59754== by 0x6336995: operator() (callback.hpp:118)
==59754== by 0x6336995: do_invoke<boost::scoped_ptr<boost::detail::translate_exception_base>, boost::unit_test::callback0<int> > (execution_monitor.ipp:281)
==59754== by 0x6336995: boost::execution_monitor::catch_signals(boost::unit_test::callback0<int> const&) (execution_monitor.ipp:885)
==59754== by 0x63371B2: boost::execution_monitor::execute(boost::unit_test::callback0<int> const&) (execution_monitor.ipp:1211)
==59754==
==59754== 111,071 (296 direct, 110,775 indirect) bytes in 1 blocks are definitely lost in loss record 662 of 672
==59754== at 0x4C2DF66: malloc (vg_replace_malloc.c:307)
==59754== by 0x7A0356: Eigen::internal::aligned_malloc(unsigned long) (Memory.h:224)
==59754== by 0x7A48AF: void* Eigen::internal::conditional_aligned_malloc<true>(unsigned long) (Memory.h:305)
==59754== by 0x5C3EF21: tsid::solvers::SolverHQuadProg::operator new(unsigned long) (solver-HQP-eiquadprog.hpp:34)
==59754== by 0x5C3EE77: tsid::solvers::SolverHQPFactory::createNewSolver(tsid::solvers::SolverHQP, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) (solver-HQP-factory.cpp:35)
==59754== by 0x79283C: tsid_formulationTest::test_invdyn_formulation_acc_force::test_method() (tsid-formulation.cpp:359)
==59754== by 0x79249E: tsid_formulationTest::test_invdyn_formulation_acc_force_invoker() (tsid-formulation.cpp:329)
==59754== by 0x83DE4D: boost::unit_test::ut_detail::unused boost::unit_test::ut_detail::invoker<boost::unit_test::ut_detail::unused>::invoke<void (*)()>(void (*&)()) (callback.hpp:56)
==59754== by 0x83B0E4: boost::unit_test::ut_detail::callback0_impl_t<boost::unit_test::ut_detail::unused, void (*)()>::invoke() (callback.hpp:89)
==59754== by 0x6356CB0: operator() (callback.hpp:118)
==59754== by 0x6356CB0: operator() (unit_test_monitor.ipp:41)
==59754== by 0x6356CB0: invoke<boost::unit_test::(anonymous namespace)::zero_return_wrapper_t<boost::unit_test::callback0<> > > (callback.hpp:42)
==59754== by 0x6356CB0: boost::unit_test::ut_detail::callback0_impl_t<int, boost::unit_test::(anonymous namespace)::zero_return_wrapper_t<boost::unit_test::callback0<boost::unit_test::ut_detail::unused> > >::invoke() (callback.hpp:89)
==59754== by 0x6336995: operator() (callback.hpp:118)
==59754== by 0x6336995: do_invoke<boost::scoped_ptr<boost::detail::translate_exception_base>, boost::unit_test::callback0<int> > (execution_monitor.ipp:281)
==59754== by 0x6336995: boost::execution_monitor::catch_signals(boost::unit_test::callback0<int> const&) (execution_monitor.ipp:885)
==59754== by 0x63371B2: boost::execution_monitor::execute(boost::unit_test::callback0<int> const&) (execution_monitor.ipp:1211)
==59754==
==59754== 146,238 (4,512 direct, 141,726 indirect) bytes in 1 blocks are definitely lost in loss record 663 of 672
==59754== at 0x4C2DF66: malloc (vg_replace_malloc.c:307)
==59754== by 0x7A0356: Eigen::internal::aligned_malloc(unsigned long) (Memory.h:224)
==59754== by 0x7A48AF: void* Eigen::internal::conditional_aligned_malloc<true>(unsigned long) (Memory.h:305)
==59754== by 0x7A1D14: tsid::InverseDynamicsFormulationAccForce::operator new(unsigned long) (inverse-dynamics-formulation-acc-force.hpp:73)
==59754== by 0x798ED7: tsid_formulationTest::test_contact_point_invdyn_formulation_acc_force::test_method() (tsid-formulation.cpp:534)
==59754== by 0x798A0B: tsid_formulationTest::test_contact_point_invdyn_formulation_acc_force_invoker() (tsid-formulation.cpp:492)
==59754== by 0x83DE4D: boost::unit_test::ut_detail::unused boost::unit_test::ut_detail::invoker<boost::unit_test::ut_detail::unused>::invoke<void (*)()>(void (*&)()) (callback.hpp:56)
==59754== by 0x83B0E4: boost::unit_test::ut_detail::callback0_impl_t<boost::unit_test::ut_detail::unused, void (*)()>::invoke() (callback.hpp:89)
==59754== by 0x6356CB0: operator() (callback.hpp:118)
==59754== by 0x6356CB0: operator() (unit_test_monitor.ipp:41)
==59754== by 0x6356CB0: invoke<boost::unit_test::(anonymous namespace)::zero_return_wrapper_t<boost::unit_test::callback0<> > > (callback.hpp:42)
==59754== by 0x6356CB0: boost::unit_test::ut_detail::callback0_impl_t<int, boost::unit_test::(anonymous namespace)::zero_return_wrapper_t<boost::unit_test::callback0<boost::unit_test::ut_detail::unused> > >::invoke() (callback.hpp:89)
==59754== by 0x6336995: operator() (callback.hpp:118)
==59754== by 0x6336995: do_invoke<boost::scoped_ptr<boost::detail::translate_exception_base>, boost::unit_test::callback0<int> > (execution_monitor.ipp:281)
==59754== by 0x6336995: boost::execution_monitor::catch_signals(boost::unit_test::callback0<int> const&) (execution_monitor.ipp:885)
==59754== by 0x63371B2: boost::execution_monitor::execute(boost::unit_test::callback0<int> const&) (execution_monitor.ipp:1211)
==59754== by 0x6356DE1: boost::unit_test::unit_test_monitor_t::execute_and_translate(boost::unit_test::test_case const&) (unit_test_monitor.ipp:69)
==59754==
==59754== 210,344 (208,512 direct, 1,832 indirect) bytes in 1 blocks are definitely lost in loss record 667 of 672
==59754== at 0x4C2DF66: malloc (vg_replace_malloc.c:307)
==59754== by 0x7A0356: Eigen::internal::aligned_malloc(unsigned long) (Memory.h:224)
==59754== by 0x7A48AF: void* Eigen::internal::conditional_aligned_malloc<true>(unsigned long) (Memory.h:305)
==59754== by 0x7B05C2: tsid::solvers::SolverHQuadProgRT<61, 18, 71>::operator new(unsigned long) (solver-HQP-eiquadprog-rt.hpp:38)
==59754== by 0x7A94CB: tsid::solvers::SolverHQPBase* tsid::solvers::SolverHQPFactory::createNewSolver<61, 18, 71>(tsid::solvers::SolverHQP, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) (solver-HQP-factory.hxx:35)
==59754== by 0x79D65C: tsid_formulationTest::test_invdyn_formulation_acc_force_computation_time::test_method() (tsid-formulation.cpp:687)
==59754== by 0x79D21D: tsid_formulationTest::test_invdyn_formulation_acc_force_computation_time_invoker() (tsid-formulation.cpp:655)
==59754== by 0x83DE4D: boost::unit_test::ut_detail::unused boost::unit_test::ut_detail::invoker<boost::unit_test::ut_detail::unused>::invoke<void (*)()>(void (*&)()) (callback.hpp:56)
==59754== by 0x83B0E4: boost::unit_test::ut_detail::callback0_impl_t<boost::unit_test::ut_detail::unused, void (*)()>::invoke() (callback.hpp:89)
==59754== by 0x6356CB0: operator() (callback.hpp:118)
==59754== by 0x6356CB0: operator() (unit_test_monitor.ipp:41)
==59754== by 0x6356CB0: invoke<boost::unit_test::(anonymous namespace)::zero_return_wrapper_t<boost::unit_test::callback0<> > > (callback.hpp:42)
==59754== by 0x6356CB0: boost::unit_test::ut_detail::callback0_impl_t<int, boost::unit_test::(anonymous namespace)::zero_return_wrapper_t<boost::unit_test::callback0<boost::unit_test::ut_detail::unused> > >::invoke() (callback.hpp:89)
==59754== by 0x6336995: operator() (callback.hpp:118)
==59754== by 0x6336995: do_invoke<boost::scoped_ptr<boost::detail::translate_exception_base>, boost::unit_test::callback0<int> > (execution_monitor.ipp:281)
==59754== by 0x6336995: boost::execution_monitor::catch_signals(boost::unit_test::callback0<int> const&) (execution_monitor.ipp:885)
==59754== by 0x63371B2: boost::execution_monitor::execute(boost::unit_test::callback0<int> const&) (execution_monitor.ipp:1211)
==59754==
==59754== 210,728 (632 direct, 210,096 indirect) bytes in 1 blocks are definitely lost in loss record 668 of 672
==59754== at 0x4C2DF66: malloc (vg_replace_malloc.c:307)
==59754== by 0x7A0356: Eigen::internal::aligned_malloc(unsigned long) (Memory.h:224)
==59754== by 0x7A48AF: void* Eigen::internal::conditional_aligned_malloc<true>(unsigned long) (Memory.h:305)
==59754== by 0x5C3EF56: tsid::solvers::SolverHQuadProgFast::operator new(unsigned long) (in /home/jmouret/deps/tsid/build/libtsid.so.1.4.0)
==59754== by 0x5C3EE9E: tsid::solvers::SolverHQPFactory::createNewSolver(tsid::solvers::SolverHQP, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) (solver-HQP-factory.cpp:38)
==59754== by 0x79D5F9: tsid_formulationTest::test_invdyn_formulation_acc_force_computation_time::test_method() (tsid-formulation.cpp:684)
==59754== by 0x79D21D: tsid_formulationTest::test_invdyn_formulation_acc_force_computation_time_invoker() (tsid-formulation.cpp:655)
==59754== by 0x83DE4D: boost::unit_test::ut_detail::unused boost::unit_test::ut_detail::invoker<boost::unit_test::ut_detail::unused>::invoke<void (*)()>(void (*&)()) (callback.hpp:56)
==59754== by 0x83B0E4: boost::unit_test::ut_detail::callback0_impl_t<boost::unit_test::ut_detail::unused, void (*)()>::invoke() (callback.hpp:89)
==59754== by 0x6356CB0: operator() (callback.hpp:118)
==59754== by 0x6356CB0: operator() (unit_test_monitor.ipp:41)
==59754== by 0x6356CB0: invoke<boost::unit_test::(anonymous namespace)::zero_return_wrapper_t<boost::unit_test::callback0<> > > (callback.hpp:42)
==59754== by 0x6356CB0: boost::unit_test::ut_detail::callback0_impl_t<int, boost::unit_test::(anonymous namespace)::zero_return_wrapper_t<boost::unit_test::callback0<boost::unit_test::ut_detail::unused> > >::invoke() (callback.hpp:89)
==59754== by 0x6336995: operator() (callback.hpp:118)
==59754== by 0x6336995: do_invoke<boost::scoped_ptr<boost::detail::translate_exception_base>, boost::unit_test::callback0<int> > (execution_monitor.ipp:281)
==59754== by 0x6336995: boost::execution_monitor::catch_signals(boost::unit_test::callback0<int> const&) (execution_monitor.ipp:885)
==59754== by 0x63371B2: boost::execution_monitor::execute(boost::unit_test::callback0<int> const&) (execution_monitor.ipp:1211)
==59754==
==59754== 738,782 (4,512 direct, 734,270 indirect) bytes in 1 blocks are definitely lost in loss record 670 of 672
==59754== at 0x4C2DF66: malloc (vg_replace_malloc.c:307)
==59754== by 0x7A0356: Eigen::internal::aligned_malloc(unsigned long) (Memory.h:224)
==59754== by 0x7A48AF: void* Eigen::internal::conditional_aligned_malloc<true>(unsigned long) (Memory.h:305)
==59754== by 0x7A1D14: tsid::InverseDynamicsFormulationAccForce::operator new(unsigned long) (inverse-dynamics-formulation-acc-force.hpp:73)
==59754== by 0x7A2CB2: tsid_formulationTest::StandardRomeoInvDynCtrl::StandardRomeoInvDynCtrl(double) (tsid-formulation.cpp:131)
==59754== by 0x792535: tsid_formulationTest::test_invdyn_formulation_acc_force::test_method() (tsid-formulation.cpp:337)
==59754== by 0x79249E: tsid_formulationTest::test_invdyn_formulation_acc_force_invoker() (tsid-formulation.cpp:329)
==59754== by 0x83DE4D: boost::unit_test::ut_detail::unused boost::unit_test::ut_detail::invoker<boost::unit_test::ut_detail::unused>::invoke<void (*)()>(void (*&)()) (callback.hpp:56)
==59754== by 0x83B0E4: boost::unit_test::ut_detail::callback0_impl_t<boost::unit_test::ut_detail::unused, void (*)()>::invoke() (callback.hpp:89)
==59754== by 0x6356CB0: operator() (callback.hpp:118)
==59754== by 0x6356CB0: operator() (unit_test_monitor.ipp:41)
==59754== by 0x6356CB0: invoke<boost::unit_test::(anonymous namespace)::zero_return_wrapper_t<boost::unit_test::callback0<> > > (callback.hpp:42)
==59754== by 0x6356CB0: boost::unit_test::ut_detail::callback0_impl_t<int, boost::unit_test::(anonymous namespace)::zero_return_wrapper_t<boost::unit_test::callback0<boost::unit_test::ut_detail::unused> > >::invoke() (callback.hpp:89)
==59754== by 0x6336995: operator() (callback.hpp:118)
==59754== by 0x6336995: do_invoke<boost::scoped_ptr<boost::detail::translate_exception_base>, boost::unit_test::callback0<int> > (execution_monitor.ipp:281)
==59754== by 0x6336995: boost::execution_monitor::catch_signals(boost::unit_test::callback0<int> const&) (execution_monitor.ipp:885)
==59754== by 0x63371B2: boost::execution_monitor::execute(boost::unit_test::callback0<int> const&) (execution_monitor.ipp:1211)
==59754==
==59754== 739,078 (4,512 direct, 734,566 indirect) bytes in 1 blocks are definitely lost in loss record 671 of 672
==59754== at 0x4C2DF66: malloc (vg_replace_malloc.c:307)
==59754== by 0x7A0356: Eigen::internal::aligned_malloc(unsigned long) (Memory.h:224)
==59754== by 0x7A48AF: void* Eigen::internal::conditional_aligned_malloc<true>(unsigned long) (Memory.h:305)
==59754== by 0x7A1D14: tsid::InverseDynamicsFormulationAccForce::operator new(unsigned long) (inverse-dynamics-formulation-acc-force.hpp:73)
==59754== by 0x7A2CB2: tsid_formulationTest::StandardRomeoInvDynCtrl::StandardRomeoInvDynCtrl(double) (tsid-formulation.cpp:131)
==59754== by 0x79D2AB: tsid_formulationTest::test_invdyn_formulation_acc_force_computation_time::test_method() (tsid-formulation.cpp:662)
==59754== by 0x79D21D: tsid_formulationTest::test_invdyn_formulation_acc_force_computation_time_invoker() (tsid-formulation.cpp:655)
==59754== by 0x83DE4D: boost::unit_test::ut_detail::unused boost::unit_test::ut_detail::invoker<boost::unit_test::ut_detail::unused>::invoke<void (*)()>(void (*&)()) (callback.hpp:56)
==59754== by 0x83B0E4: boost::unit_test::ut_detail::callback0_impl_t<boost::unit_test::ut_detail::unused, void (*)()>::invoke() (callback.hpp:89)
==59754== by 0x6356CB0: operator() (callback.hpp:118)
==59754== by 0x6356CB0: operator() (unit_test_monitor.ipp:41)
==59754== by 0x6356CB0: invoke<boost::unit_test::(anonymous namespace)::zero_return_wrapper_t<boost::unit_test::callback0<> > > (callback.hpp:42)
==59754== by 0x6356CB0: boost::unit_test::ut_detail::callback0_impl_t<int, boost::unit_test::(anonymous namespace)::zero_return_wrapper_t<boost::unit_test::callback0<boost::unit_test::ut_detail::unused> > >::invoke() (callback.hpp:89)
==59754== by 0x6336995: operator() (callback.hpp:118)
==59754== by 0x6336995: do_invoke<boost::scoped_ptr<boost::detail::translate_exception_base>, boost::unit_test::callback0<int> > (execution_monitor.ipp:281)
==59754== by 0x6336995: boost::execution_monitor::catch_signals(boost::unit_test::callback0<int> const&) (execution_monitor.ipp:885)
==59754== by 0x63371B2: boost::execution_monitor::execute(boost::unit_test::callback0<int> const&) (execution_monitor.ipp:1211)
==59754==
==59754== 750,238 (4,512 direct, 745,726 indirect) bytes in 1 blocks are definitely lost in loss record 672 of 672
==59754== at 0x4C2DF66: malloc (vg_replace_malloc.c:307)
==59754== by 0x7A0356: Eigen::internal::aligned_malloc(unsigned long) (Memory.h:224)
==59754== by 0x7A48AF: void* Eigen::internal::conditional_aligned_malloc<true>(unsigned long) (Memory.h:305)
==59754== by 0x7A1D14: tsid::InverseDynamicsFormulationAccForce::operator new(unsigned long) (inverse-dynamics-formulation-acc-force.hpp:73)
==59754== by 0x7A2CB2: tsid_formulationTest::StandardRomeoInvDynCtrl::StandardRomeoInvDynCtrl(double) (tsid-formulation.cpp:131)
==59754== by 0x78D4D1: tsid_formulationTest::test_invdyn_formulation_acc_force_remove_contact::test_method() (tsid-formulation.cpp:208)
==59754== by 0x78D3FF: tsid_formulationTest::test_invdyn_formulation_acc_force_remove_contact_invoker() (tsid-formulation.cpp:197)
==59754== by 0x83DE4D: boost::unit_test::ut_detail::unused boost::unit_test::ut_detail::invoker<boost::unit_test::ut_detail::unused>::invoke<void (*)()>(void (*&)()) (callback.hpp:56)
==59754== by 0x83B0E4: boost::unit_test::ut_detail::callback0_impl_t<boost::unit_test::ut_detail::unused, void (*)()>::invoke() (callback.hpp:89)
==59754== by 0x6356CB0: operator() (callback.hpp:118)
==59754== by 0x6356CB0: operator() (unit_test_monitor.ipp:41)
==59754== by 0x6356CB0: invoke<boost::unit_test::(anonymous namespace)::zero_return_wrapper_t<boost::unit_test::callback0<> > > (callback.hpp:42)
==59754== by 0x6356CB0: boost::unit_test::ut_detail::callback0_impl_t<int, boost::unit_test::(anonymous namespace)::zero_return_wrapper_t<boost::unit_test::callback0<boost::unit_test::ut_detail::unused> > >::invoke() (callback.hpp:89)
==59754== by 0x6336995: operator() (callback.hpp:118)
==59754== by 0x6336995: do_invoke<boost::scoped_ptr<boost::detail::translate_exception_base>, boost::unit_test::callback0<int> > (execution_monitor.ipp:281)
==59754== by 0x6336995: boost::execution_monitor::catch_signals(boost::unit_test::callback0<int> const&) (execution_monitor.ipp:885)
==59754== by 0x63371B2: boost::execution_monitor::execute(boost::unit_test::callback0<int> const&) (execution_monitor.ipp:1211)
==59754==
==59754== LEAK SUMMARY:
==59754== definitely lost: 229,104 bytes in 17 blocks
==59754== indirectly lost: 2,919,005 bytes in 1,897 blocks
==59754== possibly lost: 296 bytes in 1 blocks
==59754== still reachable: 72,704 bytes in 1 blocks
==59754== suppressed: 0 bytes in 0 blocks
==59754== Reachable blocks (those to which a pointer was found) are not shown.
==59754== To see them, rerun with: --leak-check=full --show-leak-kinds=all
==59754==
==59754== For lists of detected and suppressed errors, rerun with: -s
==59754== ERROR SUMMARY: 18 errors from 18 contexts (suppressed: 0 from 0)
nim65s commented
Hi @jbmouret, and thanks for this report and investigation.
I totally agree, we should use more shared_ptr.
I could handle this task, but not soon, so if anyone wants to help a bit on that, this would be really welcome :)
jbmouret commented
OK, I will put it in my (long) TODO list.
andreadelprete commented
Agreed. When I first implemented TSID I didn't have in mind this use-case, so I didn't take care of deallocating memory. My bad. Unfortunately now that the semester started I'm also very busy, so I don't know when I could find the time to do it. Worst case could be January for me.
jbmouret commented
@andreadelprete OK. At least I know that there is no secret deallocator :) I will try to work on this and submit a PL.
jbmouret commented
Is there a reason for not compiling in c++11 ? (14 or 17 would be even better). We do not have shared_ptr in std:: in c++98, except if we use boost.
jcarpent commented
Since URDFDOM >= 1.0.0, we have to rely on C++11 at the Pinocchio level. So, except if @nim65s or @olivier-stasse or @andreadelprete do not agree, we may go toward std::shared_ptr and C++11. But boost::shared_ptr remains a good candidate I would say.
olivier-stasse commented
Until this month, our TALOS was in 16.04 LTS. And by default 16.04 LTS is in C++98. We had several problems with some boost libraries such as boost::variant not behaving nicely when mixing C++98 and C++11. But all of our robots are now at least on 18.04 LTS. So I am fine with C++11.
jbmouret commented
I've moved all the pointers to shared_ptr and there is no leak anymore! (and yes, this means c++11)
=56088== LEAK SUMMARY:
==56088== definitely lost: 0 bytes in 0 blocks
==56088== indirectly lost: 0 bytes in 0 blocks
==56088== possibly lost: 0 bytes in 0 blocks
https://github.com/resibots/tsid/tree/fix_leaks
I still need to have a look at the python interface, as we usually do not attempt to compile it.
olivier-stasse commented
It looks nice. Thanks.
andreadelprete commented
I am fine with the switch to c++11