Closed versatran01 closed 4 years ago
@versatran01 Inspecting the quadrotor_control
code in your free time? :thinking:
@kartikmohta Not really, we were having a meeting and people were discussing issues with two versions of quad control.
Also, do you agree this is a problem? or am I being stupid?
Also there's no need to use Eigen's aligned allocator for types that do not require alignment, as in
Maybe you can call me lazy but I just try to use the rule of thumb
Use aligned_allocator for Eigen types
rather than remember when to use it and when to not, though I agree that for any dynamic sized ones you never need to bother.
yep, that's lazy. :laughing:
I noticed there are some issues with how Eigen is used in some parts of this repo. For example
https://github.com/KumarRobotics/quadrotor_control/blob/master/mav_manager/include/mav_manager/manager.h
https://github.com/KumarRobotics/quadrotor_control/blob/fd9812b1d563de07c3248cb6c5ebe0934c51deab/mav_manager/include/mav_manager/manager.h#L76
Passing Eigen objects by value is discouraged. https://eigen.tuxfamily.org/dox/group__TopicPassingByValue.html
This will not have a problem if the user doesn't compile with -march=native, but I suggest we follow eigen's guidelines on this.