Segfault when trying to save a trajectory in CSV or raw format #37
Description
Trying to make code that saves the trajectory to a file and then reads from that file as a cache. I discovered that the Pathfinder.writeToFile and Pathfinder.writeToCSV methods both cause a segfault during the call to the C++ library. This is running on the roboRio. Here is the crash log.
The path generated just fine, but after, when we try to save it, it crashes.
Waypoint[] points = new Waypoint[] {
new Waypoint(-4, -1, Pathfinder.d2r(-45)),
new Waypoint(-2, -2, 0),
new Waypoint(0, 0, 0)
};
Trajectory.Config config =
new Trajectory.Config(
Trajectory.FitMethod.HERMITE_CUBIC,
Trajectory.Config.SAMPLES_HIGH,
0.05,
RobotMap.MAX_VELOCITY,
2.0,
60.0);
File saveFile = new File(RobotMap.TRAJECTORY_CACHE);
if(saveFile.exists() && !saveFile.isDirectory()) {
log.add("trajectory file already found, usng cached paths", LOG_LEVEL);
trajectory = Pathfinder.readFromFile(saveFile);
} else {
log.add("trajectory file not found, generating new path", LOG_LEVEL);
trajectory = Pathfinder.generate(points, config);
log.add("saving path to cache", LOG_LEVEL);
Pathfinder.writeToFile(saveFile,trajectory);
}