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Merge pull request #1423 from oicchris/release/4.2

release/4.3a0
Frank Dellaert 2023-01-27 17:24:54 -08:00 committed by GitHub
parent 88b4082be7 a7b42dc878
commit ee63a5bf6f
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 11 additions and 5 deletions
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16
gtsam/nonlinear/Expression-inl.h
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@ -19,6 +19,13 @@
#pragma once
// The MSVC compiler workaround for the unsupported variable length array
// utilizes the std::unique_ptr<> custom deleter.
// See Expression<T>::valueAndJacobianMap() below.
#ifdef _MSC_VER
#include <memory>
#endif
#include <gtsam/nonlinear/internal/ExpressionNode.h>
#include <boost/bind/bind.hpp>
@ -208,7 +215,10 @@ T Expression<T>::valueAndJacobianMap(const Values& values,
// allocated on Visual Studio. For more information see the issue below
// https://bitbucket.org/gtborg/gtsam/issue/178/vlas-unsupported-in-visual-studio
#ifdef _MSC_VER
auto traceStorage = static_cast<internal::ExecutionTraceStorage*>(_aligned_malloc(size, internal::TraceAlignment));
std::unique_ptr<void, void(*)(void*)> traceStorageDeleter(
_aligned_malloc(size, internal::TraceAlignment),
[](void *ptr){ _aligned_free(ptr); });
auto traceStorage = static_cast<internal::ExecutionTraceStorage*>(traceStorageDeleter.get());
#else
internal::ExecutionTraceStorage traceStorage[size];
#endif
@ -217,10 +227,6 @@ T Expression<T>::valueAndJacobianMap(const Values& values,
T value(this->traceExecution(values, trace, traceStorage));
trace.startReverseAD1(jacobians);
#ifdef _MSC_VER
_aligned_free(traceStorage);
#endif
return value;
}