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Fix testPose2 failure by forcing eval in wedge expression. Always align Pose2.

release/4.3a0
chrisbeall 2019-01-21 23:27:58 -08:00
parent edb94a6e93
commit 1aa36b2ea9
1 changed files with 3 additions and 4 deletions
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7
gtsam/geometry/Pose2.h
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@ -295,17 +295,16 @@ private:
ar & BOOST_SERIALIZATION_NVP(r_); ar & BOOST_SERIALIZATION_NVP(r_);
} }
#ifdef GTSAM_TYPEDEF_POINTS_TO_VECTORS
public: public:
// Make sure Pose2 is aligned if it contains a Vector2 // Align for Point2, which is either derived from, or is typedef, of Vector2
EIGEN_MAKE_ALIGNED_OPERATOR_NEW EIGEN_MAKE_ALIGNED_OPERATOR_NEW
#endif
}; // Pose2 }; // Pose2
/** specialization for pose2 wedge function (generic template in Lie.h) */ /** specialization for pose2 wedge function (generic template in Lie.h) */
template <> template <>
inline Matrix wedge<Pose2>(const Vector& xi) { inline Matrix wedge<Pose2>(const Vector& xi) {
return Pose2::wedge(xi(0),xi(1),xi(2)); // NOTE(chris): Need eval() as workaround for Apple clang + avx2.
return Matrix(Pose2::wedge(xi(0),xi(1),xi(2))).eval();
} }
/** /**