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Style fixes as commented by @dellaert

release/4.3a0
Fan Jiang 2020-06-24 14:15:46 -04:00
parent 9561244b39
commit 7d7475b881
2 changed files with 23 additions and 18 deletions
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22
gtsam/base/make_shared.h
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@ -25,27 +25,31 @@
#include <type_traits> #include <type_traits>
#if __cplusplus <= 201103L
namespace gtsam { namespace gtsam {
template<bool B, class T = void> template<bool B, class T = void>
using enable_if_t = typename std::enable_if<B, T>::type; using enable_if_t = typename std::enable_if<B, T>::type;
} }
#endif
namespace gtsam { namespace gtsam {
/// Add our own `make_shared` as a layer of wrapping on `boost::make_shared` /** Add our own `make_shared` as a layer of wrapping on `boost::make_shared`
* This solves the problem with the stock `make_shared` that custom alignment is not respected, causing SEGFAULTs
* at runtime, which is notoriously hard to debug.
*
* @tparam T The type of object being constructed
* @tparam Args Type of the arguments of the constructor
* @param args Arguments of the constructor
* @return The object created as a boost::shared_ptr<T>
*/
template<typename T, typename ... Args> template<typename T, typename ... Args>
gtsam::enable_if_t<has_custom_allocator<T>::value, boost::shared_ptr<T>> make_shared(Args&&... args) gtsam::enable_if_t<needs_eigen_aligned_allocator<T>::value, boost::shared_ptr<T>> make_shared(Args &&... args) {
{ return boost::allocate_shared<T>(Eigen::aligned_allocator<T>(), std::forward<Args>(args)...);
return boost::allocate_shared<T>(Eigen::aligned_allocator<T>(), std::forward<Args> (args)...);
} }
/// Fall back to the boost version if no need for alignment /// Fall back to the boost version if no need for alignment
template<typename T, typename ... Args> template<typename T, typename ... Args>
gtsam::enable_if_t<!has_custom_allocator<T>::value, boost::shared_ptr<T>> make_shared(Args&&... args) gtsam::enable_if_t<!needs_eigen_aligned_allocator<T>::value, boost::shared_ptr<T>> make_shared(Args &&... args) {
{ return boost::make_shared<T>(std::forward<Args>(args)...);
return boost::make_shared<T>(std::forward<Args> (args)...);
} }
} }

19
gtsam/base/types.h
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@ -233,27 +233,28 @@ namespace std {
namespace gtsam { namespace gtsam {
/// Convenience void_t as we assume C++11, it will not conflict the std one in C++17 as this is in `gtsam::`
template<typename ...> using void_t = void;
/** /**
* A trait to mark classes that need special alignment. * A SFINAE trait to mark classes that need special alignment.
* This is required to make boost::make_shared and etc respect alignment, which is essential for the Python * This is required to make boost::make_shared and etc respect alignment, which is essential for the Python
* wrappers to work properly. * wrappers to work properly.
*/ */
#if __cplusplus < 201703L
template<typename ...> using void_t = void;
#endif
template<typename, typename = void_t<>> template<typename, typename = void_t<>>
struct has_custom_allocator : std::false_type { struct needs_eigen_aligned_allocator : std::false_type {
}; };
template<typename T> template<typename T>
struct has_custom_allocator<T, void_t<typename T::_custom_allocator_type_trait>> : std::true_type { struct needs_eigen_aligned_allocator<T, void_t<typename T::_eigen_aligned_allocator_trait>> : std::true_type {
}; };
} }
/** /**
* This is necessary for the Cython wrapper to work properly, and possibly reduce future misalignment problems. * This marks a GTSAM object to require alignment. With this macro an object will automatically be allocated in aligned
* memory when one uses `gtsam::make_shared`. It reduces future misalignment problems that is hard to debug.
* See https://eigen.tuxfamily.org/dox/group__DenseMatrixManipulation__Alignement.html for details
*/ */
#define GTSAM_MAKE_ALIGNED_OPERATOR_NEW \ #define GTSAM_MAKE_ALIGNED_OPERATOR_NEW \
EIGEN_MAKE_ALIGNED_OPERATOR_NEW \ EIGEN_MAKE_ALIGNED_OPERATOR_NEW \
using _custom_allocator_type_trait = void; using _eigen_aligned_allocator_trait = void;