Fix Eigen alignment - Githubissues

moveit / moveit_visual_tools

Helper functions for displaying and debugging MoveIt! data in Rviz via published markers

BSD 3-Clause "New" or "Revised" License

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Fix Eigen alignment #63

Closed gleichdick closed 4 years ago

gleichdick commented 4 years ago

IMarkerEndEffector has a vectorizable Eigen member, so it needs proper alignment. std::make_shared also does not respect alignment, so it is replaced with std::allocate_shared.

mamoll commented 4 years ago

Is this the only Eigen alignment that needs to be fixed? Might be nice to one PR for all similar alignment fixes.

gleichdick commented 4 years ago

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. Related Issues: ompl/ompl#601 ros-planning/moveit#1902

rhaschke commented 4 years ago

@mamoll, please remember to use squash-merging for such 1-commit PRs.