switch from using affine3d to isometry3d #20
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Jmeyer1292
suggested changes
Aug 30, 2018
| typedef std::map<std::string, Eigen::Affine3d> TransformMap; | ||
| typedef std::vector<Eigen::Isometry3d, Eigen::aligned_allocator<Eigen::Isometry3d> > VectorIsometry3d; | ||
| typedef std::vector<Eigen::Vector4d, Eigen::aligned_allocator<Eigen::Vector4d> > VectorVector4d; | ||
| typedef std::map<std::string, Eigen::Isometry3d> TransformMap; |
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Technically, std::map should also take an aligned allocator here. See Eigen docs.
Shameless plug, you can use templated aliases to make this code very concise and general. See my PR. For your convenience:
template <typename Key, typename Value>
using AlignedMap = std::map<Key, Value, std::less<Key>, Eigen::aligned_allocator<std::pair<const Key, Value>>>; template <typename T>
using AlignedVector = std::vector<T, Eigen::aligned_allocator<T>>;
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@Jmeyer1292 Ok to merge |
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@Levi-Armstrong I do not have write access to this repo. I can't merge. |
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@Jmeyer1292 Ok, you have write access now on this repository and on trajopt_ros |
Jmeyer1292
approved these changes
Aug 31, 2018
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