From 5ea99a0e0a597ed6676dc7512411304857a0c133 Mon Sep 17 00:00:00 2001
From: =Sergi Hernandez Juan <=shernand@iri.upc.edu>
Date: Fri, 19 May 2017 17:33:08 +0200
Subject: [PATCH] Solved a provlem with an assertion in the Eigen library.
 Added the smart_charger.c module to the simulator.

---
 darwin_controller/CMakeLists.txt              | 1 +
 darwin_odometry/include/darwin_odometry_alg.h | 1 +
 2 files changed, 2 insertions(+)

diff --git a/darwin_controller/CMakeLists.txt b/darwin_controller/CMakeLists.txt
index 3b96092..be33c40 100644
--- a/darwin_controller/CMakeLists.txt
+++ b/darwin_controller/CMakeLists.txt
@@ -119,6 +119,7 @@ add_library(${PROJECT_NAME} src/darwin_controller.cpp
                             ${DARWIN_FW_PATH}/src/joint_motion.c
                             ${DARWIN_FW_PATH}/src/head_tracking.c
                             ${DARWIN_FW_PATH}/src/motion_manager.c
+                            ${DARWIN_FW_PATH}/src/smart_charger.c
                             ${DARWIN_FW_PATH}/src/grippers.c
                             src/sim/stm32_hal.c
                             src/sim/stm32_cortex.c
diff --git a/darwin_odometry/include/darwin_odometry_alg.h b/darwin_odometry/include/darwin_odometry_alg.h
index 092b0c1..870b017 100644
--- a/darwin_odometry/include/darwin_odometry_alg.h
+++ b/darwin_odometry/include/darwin_odometry_alg.h
@@ -61,6 +61,7 @@ class DarwinOdometryAlgorithm
     bool right_leg_fk_ready;
 
   public:
+   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    /**
     * \brief define config type
     *
-- 
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