Fix failed unit tests on 32-bit machine #368
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jslee02
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Apr 7, 2018
| @@ -79,6 +79,9 @@ class SE2BoxConstraint : public constraint::Projectable, | |||
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| // DOF of the joint | |||
| std::size_t mDimension; | |||
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| public: | |||
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW | |||
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I don't think we need this for this class because none of the member variables is the vectorizable Eigen object.
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It uses Eigen::Vector3d in defining mLowerLimits and mUpperLimits.
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Yeah, fixed-size of odd dimension is not a vectorizable Eigen object. 😈 If you look at the link, all the vectors are of even dimensions. Affine3d (3x4 or 4x4; I don't remember what was it among them though.) is actually even dimension.
Codecov Report
@@ Coverage Diff @@
## master #368 +/- ##
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- Coverage 83.41% 83.37% -0.04%
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Files 197 197
Lines 5614 5619 +5
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+ Hits 4683 4685 +2
- Misses 931 934 +3
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jslee02
previously approved these changes
Apr 10, 2018
jslee02
approved these changes
Apr 11, 2018
gilwoolee
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Jan 21, 2019
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This PR fixes the failed unit tests on 32-bit machine,
which include (1) precision difference #220 ; and (2) Eigen alignment #365 .
In fixing the Eigen alignment issues, the updates include
(1) add
EIGEN_MAKE_ALIGNED_OPERATOR_NEWmacros in structures having fixed-size Eigen members;https://eigen.tuxfamily.org/dox/group__TopicStructHavingEigenMembers.html
(2) add aligned allocator when using STL containers with fixed-size Eigen members.;
https://eigen.tuxfamily.org/dox/group__TopicStlContainers.html
(3) Replacing
std::make_sharedwithdart::common::make_aligned_sharedfor aligned structures.Document new methods and classes (N/A)
Format code with
make formatSet version target by selecting a milestone on the right side
Summarize this change in
CHANGELOG.mdAdd unit test(s) for this change (N/A)