Fix #29048: iTaSC solver crash on certain compilers/platforms, due to memory
alignment issues with Eigen. Patch by Tobias Oelgarte.
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@ -34,7 +34,8 @@ namespace KDL {
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*/
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class Chain {
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private:
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std::vector<Segment> segments;
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// Eigen allocator is needed for alignment of Eigen data types
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std::vector<Segment, Eigen::aligned_allocator<Segment> > segments;
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unsigned int nrOfJoints;
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unsigned int nrOfSegments;
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public:
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@ -27,12 +27,14 @@
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#include <string>
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#include <map>
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#include <Eigen/Core>
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namespace KDL
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{
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//Forward declaration
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class TreeElement;
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typedef std::map<std::string,TreeElement> SegmentMap;
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// Eigen allocator is needed for alignment of Eigen data types
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typedef std::map<std::string,TreeElement, std::less<std::string>, Eigen::aligned_allocator<std::pair<std::string, TreeElement> > > SegmentMap;
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class TreeElement
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{
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