{"action":"created","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/772","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/772/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/772/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/772/events","html_url":"https://github.com/RobotLocomotion/drake/pull/772","id":57861349,"number":772,"title":"puts all mex calls to the c++ RigidBodyManipulator class through a single mex function interface","user":{"login":"RussTedrake","id":6442292,"avatar_url":"https://avatars.githubusercontent.com/u/6442292?v=3","gravatar_id":"","url":"https://api.github.com/users/RussTedrake","html_url":"https://github.com/RussTedrake","followers_url":"https://api.github.com/users/RussTedrake/followers","following_url":"https://api.github.com/users/RussTedrake/following{/other_user}","gists_url":"https://api.github.com/users/RussTedrake/gists{/gist_id}","starred_url":"https://api.github.com/users/RussTedrake/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/RussTedrake/subscriptions","organizations_url":"https://api.github.com/users/RussTedrake/orgs","repos_url":"https://api.github.com/users/RussTedrake/repos","events_url":"https://api.github.com/users/RussTedrake/events{/privacy}","received_events_url":"https://api.github.com/users/RussTedrake/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/RobotLocomotion/drake/labels/waiting%20for%20code%20review","name":"waiting for code review","color":"d4c5f9"},{"url":"https://api.github.com/repos/RobotLocomotion/drake/labels/waiting%20for%20unit%20tests","name":"waiting for unit tests","color":"fef2c0"}],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":10,"created_at":"2015-02-16T22:58:52Z","updated_at":"2015-02-17T00:35:41Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/772","html_url":"https://github.com/RobotLocomotion/drake/pull/772","diff_url":"https://github.com/RobotLocomotion/drake/pull/772.diff","patch_url":"https://github.com/RobotLocomotion/drake/pull/772.patch"},"body":"the goal is to:\r\n  - reduce compile time (it was getting ridiculous)\r\n  - reduce the barrier to exposing more interfaces.  we shouldn't feel any pain at exposing any (or all!) of the public methods\r\n  - reduce the memory footprint - now we have only one mex file in memory instead of N, where N had gotten large\r\n\r\ni'd eventually like to see a very clean parallel between the matlab and c++ RBM classes.  this is just a baby step.\r\n"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/74597063","html_url":"https://github.com/RobotLocomotion/drake/pull/772#issuecomment-74597063","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/772","id":74597063,"user":{"login":"RussTedrake","id":6442292,"avatar_url":"https://avatars.githubusercontent.com/u/6442292?v=3","gravatar_id":"","url":"https://api.github.com/users/RussTedrake","html_url":"https://github.com/RussTedrake","followers_url":"https://api.github.com/users/RussTedrake/followers","following_url":"https://api.github.com/users/RussTedrake/following{/other_user}","gists_url":"https://api.github.com/users/RussTedrake/gists{/gist_id}","starred_url":"https://api.github.com/users/RussTedrake/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/RussTedrake/subscriptions","organizations_url":"https://api.github.com/users/RussTedrake/orgs","repos_url":"https://api.github.com/users/RussTedrake/repos","events_url":"https://api.github.com/users/RussTedrake/events{/privacy}","received_events_url":"https://api.github.com/users/RussTedrake/received_events","type":"User","site_admin":false},"created_at":"2015-02-17T00:35:41Z","updated_at":"2015-02-17T00:35:41Z","body":"that's actually fantastic.  i can reproduce this, too (btw - you might get a nicer assertion message if you build w/ (make clean; make BUILD_TYPE=Debug).  i've found a few similar eigen memory issues that have been nascent in the code, this might be one more, just because we're moving memory around slightly differently now.  it could be something i screwed up, but I didn't touch the QP controller. \nOn Feb 16, 2015, at 7:27 PM, John Carter <notifications@github.com> wrote:\n\n> This one looks scary. runAtlasRunning segfaults and brings down MATLAB with this inviting message:\n> \n> MATLAB: malloc.c:3223: __libc_calloc: Assertion `!mem || ((((mchunkptr)((char)(mem) - 2(sizeof(size_t)))))->size & 0x2) || av == (((((mchunkptr)((char)(mem) - 2(sizeof(size_t)))))->size & 0x4) ? ((heap_info ) ((unsigned long) (((mchunkptr)((char)(mem) - 2*(sizeof(size_t))))) & ~((2 * (4 * 1024 * 1024 * sizeof(long))) - 1)))->ar_ptr : &main_arena)' failed.\n> \n> —\n> Reply to this email directly or view it on GitHub.\n> \n\n"}}