Fix bug in CartesianVelocityController

source/RobotAPI/libraries/core/CartesianVelocityController.cpp

@@ -128,7 +128,10 @@ Eigen::VectorXf CartesianVelocityController::calculateJointLimitAvoidance()
 Eigen::VectorXf CartesianVelocityController::calculateNullspaceVelocity(const Eigen::VectorXf& cartesianVel, float KpScale, VirtualRobot::IKSolver::CartesianSelection mode)
 {
     Eigen::VectorXf regularization = calculateRegularization(mode);
-    Eigen::VectorXf vel = cartesianVel * regularization;
+    // Eigen does not allow product between two column vectors (this fails in Debug mode)
+    // In Release this causes cartesianVel to be only multiplied by the first element of regularization
+    // Eigen::VectorXf vel = cartesianVel * regularization;
+    Eigen::VectorXf vel = cartesianVel.cwiseProduct(regularization);
 
     return KpScale * vel.norm() * calculateJointLimitAvoidance();