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More aligned new operators

release/4.3a0
Frank Dellaert 2018-11-06 00:29:38 -05:00
parent 2584d421b8
commit c58a78b60a
6 changed files with 27 additions and 6 deletions
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3
gtsam/navigation/CombinedImuFactor.h
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@ -320,6 +320,9 @@ private:
boost::serialization::base_object<Base>(*this)); boost::serialization::base_object<Base>(*this));
ar & BOOST_SERIALIZATION_NVP(_PIM_); ar & BOOST_SERIALIZATION_NVP(_PIM_);
} }
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
}; };
// class CombinedImuFactor // class CombinedImuFactor

12
gtsam/navigation/PreintegratedRotation.h
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@ -59,8 +59,11 @@ struct GTSAM_EXPORT PreintegratedRotationParams {
ar & BOOST_SERIALIZATION_NVP(body_P_sensor); ar & BOOST_SERIALIZATION_NVP(body_P_sensor);
} }
#ifdef GTSAM_USE_QUATERNIONS
// Align if we are using Quaternions
public: public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW EIGEN_MAKE_ALIGNED_OPERATOR_NEW
#endif
}; };
/** /**
@ -169,8 +172,11 @@ class GTSAM_EXPORT PreintegratedRotation {
ar& BOOST_SERIALIZATION_NVP(delRdelBiasOmega_); ar& BOOST_SERIALIZATION_NVP(delRdelBiasOmega_);
} }
public: #ifdef GTSAM_USE_QUATERNIONS
EIGEN_MAKE_ALIGNED_OPERATOR_NEW // Align if we are using Quaternions
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
#endif
}; };
template <> template <>

3
gtsam/navigation/PreintegrationBase.h
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@ -202,7 +202,8 @@ public:
/// @} /// @}
#endif #endif
/// @} public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
}; };
} /// namespace gtsam } /// namespace gtsam

5
gtsam/navigation/PreintegrationParams.h
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@ -75,8 +75,11 @@ protected:
ar & BOOST_SERIALIZATION_NVP(n_gravity); ar & BOOST_SERIALIZATION_NVP(n_gravity);
} }
#ifdef GTSAM_USE_QUATERNIONS
// Align if we are using Quaternions
public: public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW EIGEN_MAKE_ALIGNED_OPERATOR_NEW
#endif
}; };
} // namespace gtsam } // namespace gtsam

5
gtsam/nonlinear/ExpressionFactor.h
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@ -205,6 +205,11 @@ private:
BOOST_SERIALIZATION_SPLIT_MEMBER() BOOST_SERIALIZATION_SPLIT_MEMBER()
friend class boost::serialization::access; friend class boost::serialization::access;
// Alignment, see https://eigen.tuxfamily.org/dox/group__TopicStructHavingEigenMembers.html
enum { NeedsToAlign = (sizeof(T) % 16) == 0 };
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
}; };
// ExpressionFactor // ExpressionFactor

5
gtsam/slam/ProjectionFactor.h
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@ -186,7 +186,10 @@ namespace gtsam {
ar & BOOST_SERIALIZATION_NVP(throwCheirality_); ar & BOOST_SERIALIZATION_NVP(throwCheirality_);
ar & BOOST_SERIALIZATION_NVP(verboseCheirality_); ar & BOOST_SERIALIZATION_NVP(verboseCheirality_);
} }
};
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
/// traits /// traits
template<class POSE, class LANDMARK, class CALIBRATION> template<class POSE, class LANDMARK, class CALIBRATION>