From 9627d147f8048b43e92bd0c11717a8bbb35fe635 Mon Sep 17 00:00:00 2001
From: jcarpent <jcarpent@laas.fr>
Date: Tue, 20 Sep 2016 18:42:49 +0200
Subject: [PATCH] [Joint] Fix alignment issue for the JointComposite
---
src/multibody/constraint.hpp | 1 +
src/multibody/joint/joint-composite.hpp | 10 ++++++++++
2 files changed, 11 insertions(+)
diff --git a/src/multibody/constraint.hpp b/src/multibody/constraint.hpp
index 450f3403f..f3c87ae71 100644
--- a/src/multibody/constraint.hpp
+++ b/src/multibody/constraint.hpp
@@ -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;
diff --git a/src/multibody/joint/joint-composite.hpp b/src/multibody/joint/joint-composite.hpp
index 01ed3d89d..40228586f 100644
--- a/src/multibody/joint/joint-composite.hpp
+++ b/src/multibody/joint/joint-composite.hpp
@@ -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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