Commit 168b5d6f authored by Justin Carpentier's avatar Justin Carpentier Committed by GitHub
Browse files

Merge pull request #334 from jcarpent/devel

Fix alignment issue for the JointComposite
parents 4f7ac8db 9627d147
......@@ -102,6 +102,7 @@ namespace se3
class ConstraintTpl : public ConstraintBase<ConstraintTpl < _Dim, _Scalar, _Options > >
{
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
typedef ConstraintBase< ConstraintTpl< _Dim, _Scalar, _Options > > Base;
......
......@@ -21,6 +21,8 @@
#include "pinocchio/assert.hpp"
#include "pinocchio/multibody/joint/joint.hpp"
#include <Eigen/StdVector>
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(se3::SE3)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(se3::Motion)
......@@ -56,12 +58,16 @@ namespace se3
typedef Eigen::Matrix<double,Eigen::Dynamic,1> ConfigVector_t;
typedef Eigen::Matrix<double,Eigen::Dynamic,1> TangentVector_t;
};
template<> struct traits<JointDataComposite> { typedef JointComposite JointDerived; };
template<> struct traits<JointModelComposite> { typedef JointComposite JointDerived; };
struct JointDataComposite : public JointDataBase<JointDataComposite>
{
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
typedef JointComposite Joint;
typedef std::vector<JointData, Eigen::aligned_allocator<JointData> > JointDataVector;
SE3_JOINT_TYPEDEF;
JointDataVector joints;
......@@ -99,9 +105,13 @@ namespace se3
struct JointModelComposite : public JointModelBase<JointModelComposite>
{
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
typedef JointComposite Joint;
SE3_JOINT_TYPEDEF;
SE3_JOINT_USE_INDEXES;
typedef std::vector<JointModel, Eigen::aligned_allocator<JointModel> > JointModelVector;
using JointModelBase<JointModelComposite>::id;
using JointModelBase<JointModelComposite>::setIndexes;
......
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