Commit 429479c1 authored by mnaveau's avatar mnaveau
Browse files

add the eigen macro to align every singl vector

parent e79f5b4a
......@@ -55,7 +55,8 @@ namespace PatternGeneratorJRL
class WALK_GEN_JRL_EXPORT PatternGeneratorInterface
{
public:
// overload the new[] eigen operator
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
/*! Constructor
@param strm: Should provide the file to initialize the preview control,
the path to the VRML model, and the name of the file containing the VRML model.
......
......@@ -40,6 +40,7 @@ namespace PatternGeneratorJRL
double soleWidth ; // y axis
double soleHeight ;// x axis
vector3d anklePosition ;
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
typedef PinocchioRobotFoot_t PRFoot ;
......
......@@ -98,6 +98,7 @@ SET(INCLUDES
../doc/additionalHeader/modules.hh
../include/jrl/walkgen/pgtypes.hh
../include/jrl/walkgen/patterngeneratorinterface.hh
../include/jrl/walkgen/pinocchiorobot.hh
)
IF(${qpOASES_FOUND} STREQUAL "TRUE")
......
......@@ -407,6 +407,7 @@ void NMPCgenerator::solve_qp(){
//qpOASES::returnValue ret, error ;
if (!isQPinitialized_)
{
// force the solver to use the maximum time for computing the solution
cput_[0] = 1000.0;
nwsr_ = 10000 ;
/*ret =*/ QP_->init(
......@@ -420,7 +421,6 @@ void NMPCgenerator::solve_qp(){
}
else
{
// force the solver to use the maximum time for computing the solution
if(useLineSearch_)
{
cput_[0] = 0.0007;
......
......@@ -82,7 +82,7 @@ namespace PatternGeneratorJRL
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
/*! Constructor
@param strm: Should provide the file to initialize the preview control,
the path to the VRML model, and the name of the file containing the VRML model.
......
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