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Use allocate_shared rather than make_shared to make sure alignment is good

release/4.3a0
Frank Dellaert 2018-11-06 00:30:18 -05:00
parent c58a78b60a
commit 3c4aadc712
3 changed files with 11 additions and 9 deletions
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2
gtsam/base/GenericValue.h
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@ -110,7 +110,7 @@ public:
* Clone this value (normal clone on the heap, delete with 'delete' operator)
*/
virtual boost::shared_ptr<Value> clone() const {
return boost::make_shared<GenericValue>(*this);
return boost::allocate_shared<GenericValue>(Eigen::aligned_allocator<GenericValue>(), *this);
}
/// Generic Value interface version of retract

14
gtsam/inference/FactorGraph.h
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@ -26,6 +26,8 @@
#include <gtsam/base/FastVector.h>
#include <gtsam/inference/Key.h>
#include <Eigen/Core> // for Eigen::aligned_allocator
#include <boost/serialization/nvp.hpp>
#include <boost/assign/list_inserter.hpp>
#include <boost/bind.hpp>
@ -161,11 +163,11 @@ namespace gtsam {
factors_.push_back(factor); }
/** Emplace a factor */
template<class DERIVEDFACTOR, class... Args>
typename std::enable_if<std::is_base_of<FactorType, DERIVEDFACTOR>::value>::type
emplace_shared(Args&&... args) {
factors_.push_back(boost::make_shared<DERIVEDFACTOR>(std::forward<Args>(args)...));
}
template<class DERIVEDFACTOR, class... Args>
typename std::enable_if<std::is_base_of<FactorType, DERIVEDFACTOR>::value>::type
emplace_shared(Args&&... args) {
factors_.push_back(boost::allocate_shared<DERIVEDFACTOR>(Eigen::aligned_allocator<DERIVEDFACTOR>(), std::forward<Args>(args)...));
}
/** push back many factors with an iterator over shared_ptr (factors are not copied) */
template<typename ITERATOR>
@ -194,7 +196,7 @@ namespace gtsam {
template<class DERIVEDFACTOR>
typename std::enable_if<std::is_base_of<FactorType, DERIVEDFACTOR>::value>::type
push_back(const DERIVEDFACTOR& factor) {
factors_.push_back(boost::make_shared<DERIVEDFACTOR>(factor));
factors_.push_back(boost::allocate_shared<DERIVEDFACTOR>(Eigen::aligned_allocator<DERIVEDFACTOR>(), factor));
}
//#endif

4
gtsam/navigation/CombinedImuFactor.cpp
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@ -252,8 +252,8 @@ CombinedImuFactor::CombinedImuFactor(
: Base(noiseModel::Gaussian::Covariance(pim.preintMeasCov_), pose_i, vel_i,
pose_j, vel_j, bias_i, bias_j),
_PIM_(pim) {
boost::shared_ptr<CombinedPreintegratedMeasurements::Params> p =
boost::make_shared<CombinedPreintegratedMeasurements::Params>(pim.p());
using P = CombinedPreintegratedMeasurements::Params;
auto p = boost::allocate_shared<P>(Eigen::aligned_allocator<P>(), pim.p());
p->n_gravity = n_gravity;
p->omegaCoriolis = omegaCoriolis;
p->body_P_sensor = body_P_sensor;