all: add PINOCCHIO_ALIGNED_STD_VECTOR to define the aligned vector

benchmark/timings-derivatives.cpp

 //
-// Copyright (c) 2018 CNRS
+// Copyright (c) 2020 CNRS INRIA
 //
 
 #include "pinocchio/algorithm/joint-configuration.hpp"
@@ -151,10 +151,10 @@ int main(int argc, const char ** argv)
   Data data(model);
   VectorXd qmax = Eigen::VectorXd::Ones(model.nq);
 
-  container::aligned_vector<VectorXd> qs     (NBT);
-  container::aligned_vector<VectorXd> qdots  (NBT);
-  container::aligned_vector<VectorXd> qddots (NBT);
-  container::aligned_vector<VectorXd> taus (NBT);
+  PINOCCHIO_ALIGNED_STD_VECTOR(VectorX)> qs     (NBT);
+  PINOCCHIO_ALIGNED_STD_VECTOR(VectorXd qdots  (NBT);
+  PINOCCHIO_ALIGNED_STD_VECTOR(VectorXd) qddots (NBT);
+  PINOCCHIO_ALIGNED_STD_VECTOR(VectorXd) taus (NBT);
   
   for(size_t i=0;i<NBT;++i)
   {

bindings/python/algorithm/expose-aba-derivatives.cpp

 //
-// Copyright (c) 2018 CNRS
+// Copyright (c) 2018-2020 CNRS INRIA
 //
 
 #include "pinocchio/bindings/python/algorithm/algorithms.hpp"
@@ -16,7 +16,9 @@ namespace pinocchio
     {
       computeABADerivatives(model,data,q,v,tau);
     }
-    typedef container::aligned_vector<Force> ForceAlignedVector;
+  
+    typedef PINOCCHIO_ALIGNED_STD_VECTOR(Force) ForceAlignedVector;
+  
     void computeABADerivatives_fext(const Model & model, Data & data,
                                     const Eigen::VectorXd & q,
                                     const Eigen::VectorXd & v,

bindings/python/algorithm/expose-rnea-derivatives.cpp

 //
-// Copyright (c) 2018-2019 CNRS INRIA
+// Copyright (c) 2018-2020 CNRS INRIA
 //
 
 #include "pinocchio/bindings/python/algorithm/algorithms.hpp"
@@ -10,7 +10,7 @@ namespace pinocchio
   namespace python
   {
     
-    typedef container::aligned_vector<Force> ForceAlignedVector;
+    typedef PINOCCHIO_ALIGNED_STD_VECTOR(Force) ForceAlignedVector;
     
     Data::MatrixXs computeGeneralizedGravityDerivatives(const Model & model, Data & data,
                                                         const Eigen::VectorXd & q)
@@ -32,9 +32,9 @@ namespace pinocchio
     }
     
     void computeRNEADerivatives(const Model & model, Data & data,
-                                      const Eigen::VectorXd & q,
-                                      const Eigen::VectorXd & v,
-                                      const Eigen::VectorXd & a)
+                                const Eigen::VectorXd & q,
+                                const Eigen::VectorXd & v,
+                                const Eigen::VectorXd & a)
     {
       pinocchio::computeRNEADerivatives(model,data,q,v,a);
       // Symmetrize M

src/container/aligned-vector.hpp

 //
-// Copyright (c) 2016-2017 CNRS
+// Copyright (c) 2016-2020 CNRS INRIA
 //
 
 #ifndef __pinocchio_container_aligned_vector_hpp__
@@ -8,10 +8,15 @@
 #include <vector>
 #include <Eigen/StdVector>
 
+#define PINOCCHIO_ALIGNED_STD_VECTOR(Type) \
+  ::pinocchio::container::aligned_vector<Type>
+//  std::vector<Type,Eigen::aligned_allocator<Type> >
+
 namespace pinocchio
 {
   namespace container
   {
+  
     ///
     /// \brief Specialization of an std::vector with an aligned allocator. This specialization might be used when the type T is or contains some Eigen members.
     ///
@@ -21,6 +26,9 @@ namespace pinocchio
     struct aligned_vector : public std::vector<T, Eigen::aligned_allocator<T> >
     {
       typedef ::std::vector<T, Eigen::aligned_allocator<T> > vector_base;
+      typedef const vector_base & const_vector_base_ref;
+      typedef vector_base & vector_base_ref;
+      
       typedef T value_type;
       typedef typename vector_base::allocator_type allocator_type;
       typedef typename vector_base::size_type size_type;
@@ -37,6 +45,9 @@ namespace pinocchio
       aligned_vector & operator=(const aligned_vector& x)
       { vector_base::operator=(x); return *this; }
       
+      operator vector_base_ref() { return base(); }
+      operator const_vector_base_ref() const { return base(); }
+      
       vector_base & base() { return *static_cast<vector_base*>(this); }
       const vector_base & base() const { return *static_cast<const vector_base*>(this); }
       
@@ -45,8 +56,7 @@ namespace pinocchio
     template<class T>
     bool operator==(const aligned_vector<T>& lhs, const aligned_vector<T>& rhs)
     {
-      typedef typename aligned_vector<T>::vector_base vector_base;
-      return *static_cast<const vector_base*>(&lhs) == *static_cast<const vector_base*>(&rhs);
+      return lhs.base() == rhs.base();
     }
     
   } // namespace container

src/multibody/data.hpp

 //
-// Copyright (c) 2015-2019 CNRS INRIA
+// Copyright (c) 2015-2020 CNRS INRIA
 // Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
 //
 
@@ -53,8 +53,8 @@ namespace pinocchio
     typedef JointModelTpl<Scalar,Options,JointCollectionTpl> JointModel;
     typedef JointDataTpl<Scalar,Options,JointCollectionTpl> JointData;
     
-    typedef container::aligned_vector<JointModel> JointModelVector;
-    typedef container::aligned_vector<JointData> JointDataVector;
+    typedef PINOCCHIO_ALIGNED_STD_VECTOR(JointModel) JointModelVector;
+    typedef PINOCCHIO_ALIGNED_STD_VECTOR(JointData) JointDataVector;
     
     typedef Eigen::Matrix<Scalar,Eigen::Dynamic,Eigen::Dynamic,Options> MatrixXs;
     typedef Eigen::Matrix<Scalar,Eigen::Dynamic,1,Options> VectorXs;
@@ -87,42 +87,42 @@ namespace pinocchio
     JointDataVector joints;
     
     /// \brief Vector of joint accelerations expressed at the centers of the joints frames.
-    container::aligned_vector<Motion> a;
+    PINOCCHIO_ALIGNED_STD_VECTOR(Motion) a;
     
     /// \brief Vector of joint accelerations expressed at the origin of the world.
-    container::aligned_vector<Motion> oa;
+    PINOCCHIO_ALIGNED_STD_VECTOR(Motion) oa;
     
     /// \brief Vector of joint accelerations due to the gravity field.
-    container::aligned_vector<Motion> a_gf;
+    PINOCCHIO_ALIGNED_STD_VECTOR(Motion) a_gf;
     
     /// \brief Vector of joint accelerations expressed at the origin of the world including gravity contribution.
-    container::aligned_vector<Motion> oa_gf;
+    PINOCCHIO_ALIGNED_STD_VECTOR(Motion) oa_gf;
     
     /// \brief Vector of joint velocities expressed at the centers of the joints.
-    container::aligned_vector<Motion> v;
+    PINOCCHIO_ALIGNED_STD_VECTOR(Motion) v;
     
     /// \brief Vector of joint velocities expressed at the origin.
-    container::aligned_vector<Motion> ov;
+    PINOCCHIO_ALIGNED_STD_VECTOR(Motion) ov;
     
     /// \brief Vector of body forces expressed in the local frame of the joint. For each body, the force represents the sum of
     ///        all external forces acting on the body.
-    container::aligned_vector<Force> f;
+    PINOCCHIO_ALIGNED_STD_VECTOR(Force) f;
     
     /// \brief Vector of body forces expressed in the world frame. For each body, the force represents the sum of
     ///        all external forces acting on the body.
-    container::aligned_vector<Force> of;
+    PINOCCHIO_ALIGNED_STD_VECTOR(Force) of;
     
     /// \brief Vector of spatial momenta expressed in the local frame of the joint.
-    container::aligned_vector<Force> h;
+    PINOCCHIO_ALIGNED_STD_VECTOR(Force) h;
     
     /// \brief Vector of spatial momenta expressed in the world frame.
-    container::aligned_vector<Force> oh;
+    PINOCCHIO_ALIGNED_STD_VECTOR(Force) oh;
     
     /// \brief Vector of absolute joint placements (wrt the world).
-    container::aligned_vector<SE3> oMi;
+    PINOCCHIO_ALIGNED_STD_VECTOR(SE3) oMi;
 
     /// \brief Vector of relative joint placements (wrt the body parent).
-    container::aligned_vector<SE3> liMi;
+    PINOCCHIO_ALIGNED_STD_VECTOR(SE3) liMi;
     
     /// \brief Vector of joint torques (dim model.nv).
     TangentVectorType tau;
@@ -138,14 +138,14 @@ namespace pinocchio
     VectorXs g;
 
     /// \brief Vector of absolute operationnel frame placements (wrt the world).
-    container::aligned_vector<SE3> oMf;
+    PINOCCHIO_ALIGNED_STD_VECTOR(SE3) oMf;
 
     /// \brief Vector of sub-tree composite rigid body inertias, i.e. the apparent inertia of the subtree supported by the joint
     ///        and expressed in the local frame of the joint..
-    container::aligned_vector<Inertia> Ycrb;
+    PINOCCHIO_ALIGNED_STD_VECTOR(Inertia) Ycrb;
     
     /// \brief Vector of sub-tree composite rigid body inertia time derivatives \f$ \dot{Y}_{crb}\f$. See Data::Ycrb for more details.
-    container::aligned_vector<Matrix6> dYcrb; // TODO: change with dense symmetric matrix6
+    PINOCCHIO_ALIGNED_STD_VECTOR(Matrix6) dYcrb; // TODO: change with dense symmetric matrix6
     
     /// \brief The joint space inertia matrix (a square matrix of dim model.nv).
     MatrixXs M;
@@ -178,16 +178,16 @@ namespace pinocchio
     Matrix6x IS;
 
     /// \brief Right variation of the inertia matrix
-    container::aligned_vector<Matrix6> vxI;
+    PINOCCHIO_ALIGNED_STD_VECTOR(Matrix6) vxI;
     
     /// \brief Left variation of the inertia matrix
-    container::aligned_vector<Matrix6> Ivx;
+    PINOCCHIO_ALIGNED_STD_VECTOR(Matrix6) Ivx;
     
     /// \brief Inertia quantities expressed in the world frame
-    container::aligned_vector<Inertia> oYcrb;
+    PINOCCHIO_ALIGNED_STD_VECTOR(Inertia) oYcrb;
     
     /// \brief Time variation of the inertia quantities expressed in the world frame
-    container::aligned_vector<Matrix6> doYcrb;
+    PINOCCHIO_ALIGNED_STD_VECTOR(Matrix6) doYcrb;
     
     /// \brief Temporary for derivative algorithms
     Matrix6 Itmp;
@@ -202,7 +202,7 @@ namespace pinocchio
     
     // ABA internal data
     /// \brief Inertia matrix of the subtree expressed as dense matrix [ABA]
-    container::aligned_vector<Matrix6> Yaba;  // TODO: change with dense symmetric matrix6
+    PINOCCHIO_ALIGNED_STD_VECTOR(Matrix6) Yaba;  // TODO: change with dense symmetric matrix6
     
     /// \brief Intermediate quantity corresponding to apparent torque [ABA]
     TangentVectorType u;                  // Joint Inertia
@@ -234,7 +234,7 @@ namespace pinocchio
     Inertia Ig;
 
     /// \brief Spatial forces set, used in CRBA and CCRBA
-    container::aligned_vector<Matrix6x> Fcrb;
+    PINOCCHIO_ALIGNED_STD_VECTOR(Matrix6x) Fcrb;
 
     /// \brief Index of the last child (for CRBA)
     std::vector<int> lastChild;
@@ -299,16 +299,16 @@ namespace pinocchio
     MatrixXs ddq_dv;
     
     /// \brief Vector of joint placements wrt to algorithm end effector.
-    container::aligned_vector<SE3> iMf;
+    PINOCCHIO_ALIGNED_STD_VECTOR(SE3) iMf;
 
     /// \brief Vector of subtree center of mass positions expressed in the root joint of the subtree. In other words, com[j] is the CoM position of the subtree supported by joint \f$ j \f$ and expressed in the joint frame \f$ j \f$. The element com[0] corresponds to the center of mass position of the whole model and expressed in the global frame.
-    container::aligned_vector<Vector3> com;
+    PINOCCHIO_ALIGNED_STD_VECTOR(Vector3) com;
     
     /// \brief Vector of subtree center of mass linear velocities expressed in the root joint of the subtree. In other words, vcom[j] is the CoM linear velocity of the subtree supported by joint \f$ j \f$ and expressed in the joint frame \f$ j \f$. The element vcom[0] corresponds to the velocity of the CoM of the whole model expressed in the global frame.
-    container::aligned_vector<Vector3> vcom;
+    PINOCCHIO_ALIGNED_STD_VECTOR(Vector3) vcom;
     
     /// \brief Vector of subtree center of mass linear accelerations expressed in the root joint of the subtree. In other words, acom[j] is the CoM linear acceleration of the subtree supported by joint \f$ j \f$ and expressed in the joint frame \f$ j \f$. The element acom[0] corresponds to the acceleration of the CoM of the whole model expressed in the global frame.
-    container::aligned_vector<Vector3> acom;
+    PINOCCHIO_ALIGNED_STD_VECTOR(Vector3) acom;
     
     /// \brief Vector of subtree mass. In other words, mass[j] is the mass of the subtree supported by joint \f$ j \f$. The element mass[0] corresponds to the total mass of the model.
     std::vector<Scalar> mass;

src/multibody/geometry.hpp

 //
-// Copyright (c) 2015-2019 CNRS INRIA
+// Copyright (c) 2015-2020 CNRS INRIA
 //
 
 #ifndef __pinocchio_multibody_geometry_hpp__
@@ -30,7 +30,7 @@ namespace pinocchio
     typedef SE3Tpl<Scalar,Options> SE3;
     
     typedef ::pinocchio::GeometryObject GeometryObject;
-    typedef container::aligned_vector<GeometryObject> GeometryObjectVector;
+    typedef PINOCCHIO_ALIGNED_STD_VECTOR(GeometryObject) GeometryObjectVector;
     typedef std::vector<CollisionPair> CollisionPairVector;
     
     typedef pinocchio::GeomIndex GeomIndex;
@@ -184,7 +184,7 @@ namespace pinocchio
     /// oMg is used for pinocchio (kinematics) computation but is translated to fcl type
     /// for fcl (collision) computation. The copy is done in collisionObjects[i]->setTransform(.)
     ///
-    container::aligned_vector<SE3> oMg;
+    PINOCCHIO_ALIGNED_STD_VECTOR(SE3) oMg;
 
 #ifdef PINOCCHIO_WITH_HPP_FCL
     ///

src/multibody/joint/joint-composite.hpp

 //
-// Copyright (c) 2016-2019 CNRS INRIA
+// Copyright (c) 2016-2020 CNRS INRIA
 //
 
 #ifndef __pinocchio_joint_composite_hpp__
@@ -71,7 +71,7 @@ namespace pinocchio
     typedef JointCollectionTpl<Scalar,Options> JointCollection;
     typedef JointDataTpl<Scalar,Options,JointCollectionTpl> JointDataVariant;
 
-    typedef container::aligned_vector<JointDataVariant> JointDataVector;
+    typedef PINOCCHIO_ALIGNED_STD_VECTOR(JointDataVariant) JointDataVector;
     
     // JointDataComposite()  {} // can become necessary if we want a vector of JointDataComposite ?
 
@@ -104,10 +104,10 @@ namespace pinocchio
     JointDataVector joints;
    
     /// \brief Transforms from previous joint to last joint
-    container::aligned_vector<Transformation_t> iMlast;
+    PINOCCHIO_ALIGNED_STD_VECTOR(Transformation_t) iMlast;
 
     /// \brief Transforms from previous joint to joint i
-    container::aligned_vector<Transformation_t> pjMi;
+    PINOCCHIO_ALIGNED_STD_VECTOR(Transformation_t) pjMi;
 
     Constraint_t S;
     Transformation_t M;
@@ -162,7 +162,7 @@ namespace pinocchio
     typedef MotionTpl<Scalar,Options> Motion;
     typedef InertiaTpl<Scalar,Options> Inertia;
   
-    typedef container::aligned_vector<JointModelVariant> JointModelVector;
+    typedef PINOCCHIO_ALIGNED_STD_VECTOR(JointModelVariant) JointModelVector;
     
     using Base::id;
     using Base::idx_q;
@@ -366,7 +366,7 @@ namespace pinocchio
     /// \brief Vector of joints contained in the joint composite.
     JointModelVector joints;
     /// \brief Vector of joint placements. Those placements correspond to the origin of the joint relatively to their parent.
-    container::aligned_vector<SE3> jointPlacements;
+    PINOCCHIO_ALIGNED_STD_VECTOR(SE3) jointPlacements;
 
     template<typename D>
     typename SizeDepType<NQ>::template SegmentReturn<D>::ConstType

src/multibody/joint/joint-generic.hpp

 //
-// Copyright (c) 2016-2019 CNRS INRIA
+// Copyright (c) 2016-2020 CNRS INRIA
 //
 
 #ifndef __pinocchio_joint_generic_hpp__
@@ -229,8 +229,8 @@ namespace pinocchio
     }
   };
   
-  typedef container::aligned_vector<JointData> JointDataVector;
-  typedef container::aligned_vector<JointModel> JointModelVector;
+  typedef PINOCCHIO_ALIGNED_STD_VECTOR(JointData) JointDataVector;
+  typedef PINOCCHIO_ALIGNED_STD_VECTOR(JointModel) JointModelVector;
 
 } // namespace pinocchio
 

src/multibody/model.hpp

 //
-// Copyright (c) 2015-2019 CNRS INRIA
+// Copyright (c) 2015-2020 CNRS INRIA
 // Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
 //
 
@@ -53,10 +53,10 @@ namespace pinocchio
     typedef JointModelTpl<Scalar,Options,JointCollectionTpl> JointModel;
     typedef JointDataTpl<Scalar,Options,JointCollectionTpl> JointData;
     
-    typedef container::aligned_vector<JointModel> JointModelVector;
-    typedef container::aligned_vector<JointData> JointDataVector;
+    typedef PINOCCHIO_ALIGNED_STD_VECTOR(JointModel) JointModelVector;
+    typedef PINOCCHIO_ALIGNED_STD_VECTOR(JointData) JointDataVector;
     
-    typedef container::aligned_vector<Frame> FrameVector;
+    typedef PINOCCHIO_ALIGNED_STD_VECTOR(Frame) FrameVector;
     
     typedef Eigen::Matrix<Scalar,Eigen::Dynamic,1,Options> VectorXs;
     typedef Eigen::Matrix<Scalar,3,1,Options> Vector3;
@@ -86,10 +86,10 @@ namespace pinocchio
     int nframes;
 
     /// \brief Spatial inertias of the body *i* expressed in the supporting joint frame *i*.
-    container::aligned_vector<Inertia> inertias;
+    PINOCCHIO_ALIGNED_STD_VECTOR(Inertia) inertias;
     
     /// \brief Placement (SE3) of the input of joint *i* regarding to the parent joint output *li*.
-    container::aligned_vector<SE3> jointPlacements;
+    PINOCCHIO_ALIGNED_STD_VECTOR(SE3) jointPlacements;
 
     /// \brief Model of joint *i*, encapsulated in a JointModelAccessor.
     JointModelVector joints;

src/multibody/model.hxx

 //
-// Copyright (c) 2015-2019 CNRS INRIA
+// Copyright (c) 2015-2020 CNRS INRIA
 // Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
 //
 
@@ -229,7 +229,7 @@ namespace pinocchio
   ModelTpl<Scalar,Options,JointCollectionTpl>::
   getFrameId(const std::string & name, const FrameType & type) const
   {
-    typename container::aligned_vector<Frame>::const_iterator it
+    typename PINOCCHIO_ALIGNED_STD_VECTOR(Frame)::const_iterator it
     = std::find_if(frames.begin()
                    ,frames.end()
                    ,details::FilterFrame(name, type));

src/parsers/urdf/model.hxx

 //
-// Copyright (c) 2015-2018 CNRS
+// Copyright (c) 2015-2020 CNRS
 // Copyright (c) 2015 Wandercraft, 86 rue de Paris 91400 Orsay, France.
 //
 
@@ -124,7 +124,7 @@ namespace pinocchio
           std::ostringstream oss;
           oss << joint_name << " already inserted as a frame. Current frames "
           "are [";
-          for (typename container::aligned_vector<Frame>::const_iterator it =
+          for (typename PINOCCHIO_ALIGNED_STD_VECTOR(Frame)::const_iterator it =
                model.frames.begin (); it != model.frames.end (); ++it) {
             oss << "\"" << it->name << "\",";
           }

unittest/aba-derivatives.cpp

 //
-// Copyright (c) 2018 CNRS, INRIA
+// Copyright (c) 2018-2020 CNRS INRIA
 //
 
 #include "pinocchio/multibody/model.hpp"
@@ -174,7 +174,7 @@ BOOST_AUTO_TEST_CASE(test_aba_derivatives_fext)
   VectorXd tau(VectorXd::Random(model.nv));
   VectorXd a(aba(model,data_ref,q,v,tau));
   
-  typedef container::aligned_vector<Force> ForceVector;
+  typedef PINOCCHIO_ALIGNED_STD_VECTOR(Force) ForceVector;
   ForceVector fext((size_t)model.njoints);
   for(ForceVector::iterator it = fext.begin(); it != fext.end(); ++it)
     (*it).setRandom();

unittest/aba.cpp

 //
-// Copyright (c) 2016-2018 CNRS, INRIA
+// Copyright (c) 2016-2020 CNRS INRIA
 //
 
 #include "pinocchio/spatial/fwd.hpp"
@@ -166,7 +166,7 @@ BOOST_AUTO_TEST_CASE ( test_aba_with_fext )
   VectorXd v = VectorXd::Random(model.nv);
   VectorXd a = VectorXd::Random(model.nv);
 
-  container::aligned_vector<Force> fext(model.joints.size(), Force::Random());
+  PINOCCHIO_ALIGNED_STD_VECTOR(Force) fext(model.joints.size(), Force::Random());
   
   crba(model, data, q);
   computeJointJacobians(model, data, q);

unittest/contact-dynamics-derivatives.cpp

 //
-// Copyright (c) 2019 INRIA
+// Copyright (c) 2019-2020 INRIA
 //
 
 #include "pinocchio/algorithm/jacobian.hpp"
@@ -49,7 +49,7 @@ BOOST_AUTO_TEST_CASE ( test_FD_with_contact_cst_gamma )
   VectorXd ddq_ref = data.ddq;
   Force::Vector6 contact_force_ref = data.lambda_c;
   
-  container::aligned_vector<Force> fext((size_t)model.njoints,Force::Zero());
+  PINOCCHIO_ALIGNED_STD_VECTOR(Force) fext((size_t)model.njoints,Force::Zero());
   fext[RF_id] = ForceRef<Force::Vector6>(contact_force_ref);
   
   // check call to RNEA
@@ -206,7 +206,7 @@ BOOST_AUTO_TEST_CASE ( test_FD_with_contact_varying_gamma )
   VectorXd ddq_ref = x_ref.head(model.nv);
   Force::Vector6 contact_force_ref = x_ref.tail(6);
   
-  container::aligned_vector<Force> fext((size_t)model.njoints,Force::Zero());
+  PINOCCHIO_ALIGNED_STD_VECTOR(Force) fext((size_t)model.njoints,Force::Zero());
   fext[RF_id] = ForceRef<Force::Vector6>(contact_force_ref);
   
   // check call to RNEA

unittest/data.cpp

@@ -84,4 +84,17 @@ BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
     BOOST_CHECK(data != data_copy);
   }
 
+  BOOST_AUTO_TEST_CASE(test_container_aligned_vector)
+  {
+    Model model;
+    buildModels::humanoidRandom(model);
+    
+    Data data(model);
+    
+    container::aligned_vector<Data::Force> & f = data.f;
+    data.f[0].setRandom();
+    
+    BOOST_CHECK(data.f[0] == f[0]);
+  }
+
 BOOST_AUTO_TEST_SUITE_END()

unittest/rnea-derivatives.cpp

 //
-// Copyright (c) 2017-2019 CNRS INRIA
+// Copyright (c) 2017-2020 CNRS INRIA
 //
 
 #include "pinocchio/multibody/model.hpp"
@@ -76,7 +76,7 @@ BOOST_AUTO_TEST_CASE(test_generalized_gravity_derivatives_fext)
   model.upperPositionLimit.head<3>().fill( 1.);
   VectorXd q = randomConfiguration(model);
 
-  typedef container::aligned_vector<Force> ForceVector;
+  typedef PINOCCHIO_ALIGNED_STD_VECTOR(Force) ForceVector;
   ForceVector fext((size_t)model.njoints);
   for(ForceVector::iterator it = fext.begin(); it != fext.end(); ++it)
     (*it).setRandom();
@@ -319,7 +319,7 @@ BOOST_AUTO_TEST_CASE(test_rnea_derivatives_fext)
   VectorXd v(VectorXd::Random(model.nv));
   VectorXd a(VectorXd::Random(model.nv));
   
-  typedef container::aligned_vector<Force> ForceVector;
+  typedef PINOCCHIO_ALIGNED_STD_VECTOR(Force) ForceVector;
   ForceVector fext((size_t)model.njoints);
   for(ForceVector::iterator it = fext.begin(); it != fext.end(); ++it)
     (*it).setRandom();

unittest/rnea.cpp

 //
-// Copyright (c) 2015-2019 CNRS INRIA
+// Copyright (c) 2015-2020 CNRS INRIA
 //
 
 /*
@@ -147,7 +147,7 @@ BOOST_AUTO_TEST_CASE (test_rnea_with_fext)
   VectorXd v (VectorXd::Random(model.nv));
   VectorXd a (VectorXd::Random(model.nv));
   
-  container::aligned_vector<Force> fext(model.joints.size(), Force::Zero());
+  PINOCCHIO_ALIGNED_STD_VECTOR(Force) fext(model.joints.size(), Force::Zero());
   
   JointIndex rf = model.getJointId("rleg6_joint"); Force Frf = Force::Random();
   fext[rf] = Frf;
@@ -215,7 +215,7 @@ BOOST_AUTO_TEST_CASE(test_compute_static_torque)
 
   VectorXd q = randomConfiguration(model);
 
-  typedef container::aligned_vector<Force> ForceVector;
+  typedef PINOCCHIO_ALIGNED_STD_VECTOR(Force) ForceVector;
   ForceVector fext((size_t)model.njoints);
   for(ForceVector::iterator it = fext.begin(); it != fext.end(); ++it)
     (*it).setRandom();