Fix Eigen alignment #63
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Is this the only Eigen alignment that needs to be fixed? Might be nice to one PR for all similar alignment fixes. |
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Eigen can make use of CPU extensions like SSE and AVX, which have these alignment requirements. I'm currently trying to enable it for moveit, so I took a look at the packages used there. |
rhaschke
approved these changes
Apr 15, 2020
| @@ -97,7 +98,9 @@ IMarkerRobotState::IMarkerRobotState(planning_scene_monitor::PlanningSceneMonito | |||
| else | |||
| eef_name = imarker_name + "_left"; | |||
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| end_effectors_[i] = std::make_shared<IMarkerEndEffector>(this, eef_name, arm_datas_[i], color); | |||
| // respect Eigen alignment | |||
| end_effectors_[i] = std::allocate_shared<IMarkerEndEffector>(Eigen::aligned_allocator<IMarkerEndEffector>(), this, | |||
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Having IMarkerEndEffector declaring EIGEN_MAKE_ALIGNED_OPERATOR_NEW, why do you need this change here as well?
Found the answer myself: https://gitlab.com/libeigen/eigen/issues/1049
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@mamoll, please remember to use squash-merging for such 1-commit PRs. |
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IMarkerEndEffector has a vectorizable Eigen member, so it needs proper alignment.
std::make_sharedalso does not respect alignment, so it is replaced withstd::allocate_shared.