Config-dependent aligned new operator

gtsam/geometry/Pose2.h

@@ -278,6 +278,12 @@ private:
     ar & BOOST_SERIALIZATION_NVP(t_);
     ar & BOOST_SERIALIZATION_NVP(r_);
   }
+
+#ifdef GTSAM_TYPEDEF_POINTS_TO_VECTORS
+public:
+  // Make sure Pose2 is aligned if it contains a Vector2
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+#endif
 }; // Pose2
 
 /** specialization for pose2 wedge function (generic template in Lie.h) */

gtsam/geometry/Rot3.h

@@ -508,9 +508,11 @@ namespace gtsam {
 #endif
     }
 
-   public:
+#ifdef GTSAM_USE_QUATERNIONS
+  // only align if quaternion, Matrix3 has no alignment requirements
+  public:
     EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-
+#endif
   };
 
   /**