iDynTree::KinDynComputations getFrameBiasAcc() returning nonsense with FrameVelocityRepresentation = MIXED_REPRESENTATION

[paulinejmaurice]

When calling KinDynComputations::getFrameBiasAcc(index), the last 3 elements (i.e. angular part) of the returned vector appeared to be nonsense (e.g. 10^230), when the FrameVelocityRepresentation is set to MIXED_REPRESENTATION.

I looked in the code of KinDynComputations.cpp, in the function "convertBodyFixedAccelerationToMixedAcceleration" which is called only when MIXED_REPRESENTATION is on. It seems that "mixedAcceleration" is never initialized, which might explain why I get nonsense angular part in the output vector.

[traversaro]

Thanks for reporting this issue. I was able to reproduce it, I will come back to you shortly.

[traversaro]

The issue has been fixed in #368 . As mentioned in the same PR, there is still an issue in the value returned by getFrameBiasAcc when the representation is MIXED_REPRESENTATION. This bug will be fixed soon (please follow #370 to be up to date) but it should be negligible for any real world use.

Thanks a lot for reporting the problem.