Fixed vector of Eigen::Isometry3d issue.

aicp_core/include/aicp_utils/visualizer.hpp

@@ -38,7 +38,7 @@ public:
                               int64_t utime = -1) = 0;
 
     // Gets
-    virtual const std::vector<Eigen::Isometry3d>& getPath() = 0;
+    virtual const std::vector<Eigen::Isometry3d, Eigen::aligned_allocator<Eigen::Isometry3d>>& getPath() = 0;
 
 protected:
     // Set global reference frame to zero origin

aicp_lcm/include/aicp_lcm/visualizer_lcm.hpp

@@ -38,7 +38,7 @@ public:
                      int64_t utime);
 
     // Gets
-    const std::vector<Eigen::Isometry3d>& getPath()
+    const std::vector<Eigen::Isometry3d, Eigen::aligned_allocator<Eigen::Isometry3d>>& getPath()
     {}
 
 private:

aicp_ros/include/aicp_ros/talker_ros.hpp

@@ -3,6 +3,7 @@
 #include "ros/node_handle.h"
 
 #include <Eigen/Dense>
+#include <Eigen/StdVector>
 
 #include <geometry_msgs/PoseArray.h>
 
@@ -15,10 +16,10 @@ public:
     ROSTalker(ros::NodeHandle& nh, std::string fixed_frame);
 
     // Publish footstep plan
-    void publishFootstepPlan(std::vector<Eigen::Isometry3d> &path,
+    void publishFootstepPlan(std::vector<Eigen::Isometry3d, Eigen::aligned_allocator<Eigen::Isometry3d>>& path,
                              int64_t utime,
                              bool reverse_path = false);
-    void reversePath(std::vector<Eigen::Isometry3d>& path);
+    void reversePath(std::vector<Eigen::Isometry3d, Eigen::aligned_allocator<Eigen::Isometry3d>>& path);
 
 private:
     ros::NodeHandle& nh_;

aicp_ros/include/aicp_ros/visualizer_ros.hpp

@@ -52,7 +52,7 @@ public:
     void publishFixedFrameToOdomTF(Eigen::Isometry3d& fixed_frame_to_base_eigen, ros::Time msg_time);
 
     // Gets
-    const std::vector<Eigen::Isometry3d>& getPath(){
+    const std::vector<Eigen::Isometry3d, Eigen::aligned_allocator<Eigen::Isometry3d>>& getPath(){
         return path_;
     }
 

aicp_ros/src/app_ros.cpp

@@ -294,7 +294,7 @@ bool AppROS::goBackRequest()
     pose_marker_initialized_ = true;
 
     // Set path back
-    std::vector<Eigen::Isometry3d> path_forward = vis_->getPath();
+    std::vector<Eigen::Isometry3d, Eigen::aligned_allocator<Eigen::Isometry3d>> path_forward = vis_->getPath();
 
     ROS_INFO_STREAM("------------------------------- GO BACK -------------------------------");
     ROS_INFO_STREAM("[Aicp] Follow path of "

aicp_ros/src/talker_ros.cpp

@@ -10,7 +10,7 @@ ROSTalker::ROSTalker(ros::NodeHandle& nh, std::string fixed_frame) : nh_(nh),
     footstep_plan_pub_ = nh_.advertise<geometry_msgs::PoseArray>("/position_controller/footstep_plan_request_list",10);
 }
 
-void ROSTalker::publishFootstepPlan(std::vector<Eigen::Isometry3d>& path,
+void ROSTalker::publishFootstepPlan(std::vector<Eigen::Isometry3d, Eigen::aligned_allocator<Eigen::Isometry3d>>& path,
                                     int64_t utime,
                                     bool reverse_path){
 
@@ -41,7 +41,7 @@ void ROSTalker::publishFootstepPlan(std::vector<Eigen::Isometry3d>& path,
     footstep_plan_pub_.publish(path_msg);
 }
 
-void ROSTalker::reversePath(std::vector<Eigen::Isometry3d>& path){
+void ROSTalker::reversePath(std::vector<Eigen::Isometry3d, Eigen::aligned_allocator<Eigen::Isometry3d>>& path){
 
     std::reverse(path.begin(),path.end());