From 20aa9edb6b5edfc00bcc128e1243794e5acb120b Mon Sep 17 00:00:00 2001
From: Dinesh Atchuthan <datchuth@laas.fr>
Date: Wed, 4 Oct 2017 16:18:27 +0200
Subject: [PATCH] HOTFIX: alignement proc_odom3D
---
src/processor_base.h | 1 +
src/processor_motion.h | 1 +
src/processor_odom_2D.h | 1 +
src/processor_odom_3D.h | 10 ++++++----
src/sensor_odom_2D.h | 3 ++-
src/sensor_odom_3D.h | 1 +
6 files changed, 12 insertions(+), 5 deletions(-)
diff --git a/src/processor_base.h b/src/processor_base.h
index f87df2394..19e5f665d 100644
--- a/src/processor_base.h
+++ b/src/processor_base.h
@@ -40,6 +40,7 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
static unsigned int processor_id_count_;
public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
ProcessorBase(const std::string& _type, const Scalar& _time_tolerance = 0);
virtual ~ProcessorBase();
void remove();
diff --git a/src/processor_motion.h b/src/processor_motion.h
index cd1c41c7f..f1a19ebb2 100644
--- a/src/processor_motion.h
+++ b/src/processor_motion.h
@@ -108,6 +108,7 @@ class ProcessorMotion : public ProcessorBase
// This is the main public interface
public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
ProcessorMotion(const std::string& _type,
Size _state_size,
Size _delta_size,
diff --git a/src/processor_odom_2D.h b/src/processor_odom_2D.h
index be2654cf0..2e0e1be46 100644
--- a/src/processor_odom_2D.h
+++ b/src/processor_odom_2D.h
@@ -30,6 +30,7 @@ struct ProcessorParamsOdom2D : public ProcessorParamsBase
class ProcessorOdom2D : public ProcessorMotion
{
public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
ProcessorOdom2D(const Scalar& _traveled_dist_th = 1.0,
const Scalar& _theta_traveled_th = 0.17,
const Scalar& _cov_det_th = 1.0,
diff --git a/src/processor_odom_3D.h b/src/processor_odom_3D.h
index 1a806888c..2437da8e1 100644
--- a/src/processor_odom_3D.h
+++ b/src/processor_odom_3D.h
@@ -66,6 +66,7 @@ WOLF_PTR_TYPEDEFS(ProcessorOdom3D);
class ProcessorOdom3D : public ProcessorMotion
{
public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
ProcessorOdom3D(ProcessorOdom3DParamsPtr _params = nullptr, SensorOdom3DPtr _sensor_ptr = nullptr);
virtual ~ProcessorOdom3D();
void setup(SensorOdom3DPtr sen_ptr);
@@ -121,7 +122,7 @@ class ProcessorOdom3D : public ProcessorMotion
Eigen::Map<Eigen::Vector3s> p_out_;
Eigen::Map<const Eigen::Quaternions> q1_, q2_;
Eigen::Map<Eigen::Quaternions> q_out_;
- void remap(const Eigen::VectorXs& _x1, const Eigen::VectorXs& _x2, Eigen::VectorXs& _x_out);
+ void remap(const Eigen::Ref<const Eigen::VectorXs> _x1, const Eigen::Ref<const Eigen::VectorXs> _x2, Eigen::Ref<Eigen::VectorXs> _x_out);
// Factory method
public:
@@ -156,9 +157,9 @@ inline FeatureBasePtr ProcessorOdom3D::emplaceFeature(CaptureMotionPtr _capture_
return key_feature_ptr;
}
-inline void ProcessorOdom3D::remap(const Eigen::VectorXs& _x1,
- const Eigen::VectorXs& _x2,
- Eigen::VectorXs& _x_out)
+inline void ProcessorOdom3D::remap(const Eigen::Ref<const Eigen::VectorXs> _x1,
+ const Eigen::Ref<const Eigen::VectorXs> _x2,
+ Eigen::Ref<Eigen::VectorXs> _x_out)
{
new (&p1_) Eigen::Map<const Eigen::Vector3s>(_x1.data());
new (&q1_) Eigen::Map<const Eigen::Quaternions>(_x1.data() + 3);
@@ -168,6 +169,7 @@ inline void ProcessorOdom3D::remap(const Eigen::VectorXs& _x1,
new (&q_out_) Eigen::Map<Eigen::Quaternions>(_x_out.data() + 3);
}
+
} // namespace wolf
#endif /* SRC_PROCESSOR_ODOM_3D_H_ */
diff --git a/src/sensor_odom_2D.h b/src/sensor_odom_2D.h
index 6cd2ad336..277e73b70 100644
--- a/src/sensor_odom_2D.h
+++ b/src/sensor_odom_2D.h
@@ -21,7 +21,8 @@ class SensorOdom2D : public SensorBase
Scalar k_disp_to_disp_; ///< ratio of displacement variance to displacement, for odometry noise calculation
Scalar k_rot_to_rot_; ///< ratio of rotation variance to rotation, for odometry noise calculation
- public:
+ public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
/** \brief Constructor with arguments
*
* Constructor with arguments
diff --git a/src/sensor_odom_3D.h b/src/sensor_odom_3D.h
index c676edc95..e360af197 100644
--- a/src/sensor_odom_3D.h
+++ b/src/sensor_odom_3D.h
@@ -44,6 +44,7 @@ class SensorOdom3D : public SensorBase
Scalar min_rot_var_;
public:
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
/** \brief Constructor with arguments
*
* Constructor with arguments
--
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