From 574a3a57d73bbb8c0021581a89884c92ebf1bb14 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Tue, 14 Jun 2016 18:58:16 +0200
Subject: [PATCH] Don't align underlying vector in Quaternion3f
---
include/hpp/fcl/math/transform.h | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/include/hpp/fcl/math/transform.h b/include/hpp/fcl/math/transform.h
index 94f6461b..d74ea775 100644
--- a/include/hpp/fcl/math/transform.h
+++ b/include/hpp/fcl/math/transform.h
@@ -49,7 +49,7 @@ namespace fcl {
template<typename RhsType>
struct quaternion_transform_return_type_traits {
- typedef Eigen::Matrix<FCL_REAL, 4, 1> Vec4f;
+ typedef Eigen::Matrix<FCL_REAL, 4, 1, Eigen::DontAlign> Vec4f;
typedef typename Vec4f:: FixedSegmentReturnType<3>::Type XYZ_t;
typedef typename Vec4f::ConstFixedSegmentReturnType<3>::Type XYZConst_t;
@@ -106,7 +106,7 @@ namespace fcl
class Quaternion3f
{
private:
- typedef Eigen::Matrix<FCL_REAL, 4, 1> Vec4f;
+ typedef Eigen::Matrix<FCL_REAL, 4, 1, Eigen::DontAlign> Vec4f;
typedef typename Vec4f:: FixedSegmentReturnType<3>::Type XYZ_t;
typedef typename Vec4f::ConstFixedSegmentReturnType<3>::Type XYZConst_t;
@@ -273,8 +273,8 @@ private:
return data[i];
}
- inline Vec4f:: FixedSegmentReturnType<3>::Type vec() { return data.segment<3>(X); }
- inline Vec4f::ConstFixedSegmentReturnType<3>::Type vec() const { return data.segment<3>(X); }
+ inline XYZ_t vec() { return data.segment<3>(X); }
+ inline XYZConst_t vec() const { return data.segment<3>(X); }
Vec4f data;
--
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