From 1cdd40bfc3a001acb209e6c48464d93287eccb8d Mon Sep 17 00:00:00 2001
From: Jason Chemin <jchemin@machinesan>
Date: Fri, 12 Jun 2020 17:06:59 +0200
Subject: [PATCH] [Fix] add destructor to avoid memory leak.
---
include/hpp/centroidal-dynamics/centroidal_dynamics.hh | 2 ++
include/hpp/centroidal-dynamics/solver_LP_abstract.hh | 2 ++
include/hpp/centroidal-dynamics/solver_LP_qpoases.hh | 2 ++
src/centroidal_dynamics.cpp | 4 ++++
4 files changed, 10 insertions(+)
diff --git a/include/hpp/centroidal-dynamics/centroidal_dynamics.hh b/include/hpp/centroidal-dynamics/centroidal_dynamics.hh
index dec7805..46729c1 100644
--- a/include/hpp/centroidal-dynamics/centroidal_dynamics.hh
+++ b/include/hpp/centroidal-dynamics/centroidal_dynamics.hh
@@ -97,6 +97,8 @@ class CENTROIDAL_DYNAMICS_DLLAPI Equilibrium {
Equilibrium(const Equilibrium& other);
+ ~Equilibrium();
+
/**
* @brief Returns the useWarmStart flag.
* @return True if the LP solver is allowed to use warm start, false otherwise.
diff --git a/include/hpp/centroidal-dynamics/solver_LP_abstract.hh b/include/hpp/centroidal-dynamics/solver_LP_abstract.hh
index 11b1f49..85226c4 100644
--- a/include/hpp/centroidal-dynamics/solver_LP_abstract.hh
+++ b/include/hpp/centroidal-dynamics/solver_LP_abstract.hh
@@ -51,6 +51,8 @@ class CENTROIDAL_DYNAMICS_DLLAPI Solver_LP_abstract {
m_useWarmStart = true;
}
+ virtual ~Solver_LP_abstract() {}
+
/**
* @brief Create a new LP solver of the specified type.
* @param solverType Type of LP solver.
diff --git a/include/hpp/centroidal-dynamics/solver_LP_qpoases.hh b/include/hpp/centroidal-dynamics/solver_LP_qpoases.hh
index 67284f1..d292c41 100644
--- a/include/hpp/centroidal-dynamics/solver_LP_qpoases.hh
+++ b/include/hpp/centroidal-dynamics/solver_LP_qpoases.hh
@@ -25,6 +25,8 @@ class CENTROIDAL_DYNAMICS_DLLAPI Solver_LP_qpoases : public Solver_LP_abstract {
public:
Solver_LP_qpoases();
+ virtual ~Solver_LP_qpoases() {}
+
/** Solve the linear program
* minimize c' x
* subject to Alb <= A x <= Aub
diff --git a/src/centroidal_dynamics.cpp b/src/centroidal_dynamics.cpp
index 3c5428b..9f08107 100644
--- a/src/centroidal_dynamics.cpp
+++ b/src/centroidal_dynamics.cpp
@@ -72,6 +72,10 @@ Equilibrium::Equilibrium(const string& name, const double mass, const unsigned i
m_D.block<3, 3>(3, 0) = crossMatrix(-m_mass * m_gravity);
}
+Equilibrium::~Equilibrium(){
+ delete m_solver;
+}
+
bool Equilibrium::computeGenerators(Cref_matrixX3 contactPoints, Cref_matrixX3 contactNormals,
double frictionCoefficient, const bool perturbate) {
long int c = contactPoints.rows();
--
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