[Rock-dev] eigen on 32 Bit machines and rock base types

[Alexander Duda]

On Thu, 2011-03-24 at 14:01 +0100, Jakob Schwendner wrote:
> On 03/24/2011 01:42 PM, Alexander Duda wrote:
> > On Thu, 2011-03-24 at 13:08 +0100, Sylvain Joyeux wrote:
> >> On 03/24/2011 11:40 AM, Alexander Duda wrote:
> >>> I am using eigen on a 32 Bit machine and running in lots of unaligned
> >>> array asserts. Is there any reason why for example RigidBodyState does
> >>> not have a EIGEN_MAKE_ALIGNED_OPERATOR_NEW macro call. Or is it just
> >>> missing.
> >> You can't use it for types that are going on the RTT dataflow. Look at
> >> the orocos-dev (or orocos-users) mailing list for an extensive
> >> explanation and discussion.
> > That would mean that you can not use for an example RigidBodyState as a
> > class member like it is extensively done by the transformer.
> >
> > Or do I miss something?
> >
> > Alex
> >
> Yes, you can. The types in base have the DontAlign template option set, 
> which means, they do not need to be aligned. No macro needed here. Look 
> in base/eigen.h... the only problem is that the quaternion does not 
> provide this flag in eigen2. This is why we need to switch to eigen3 for 
> this.
> 
> Jakob

thx for the replays. 

If someone is interested:
Because there is no implicit type conversion for base::Quaternion to
eigen::Quaternion there will be Segfaults on 32 Bit machines. 

the workaround for now is to add:
add_definitions(-DEIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT
-DEIGEN_DONT_VECTORIZE)
add_definitions(-DEIGEN_DONT_ALIGN)

to the CMakeLists.txt from:
base/types
drivers/transformer
gui/vizkit
slam/envire

Alex

-- 
Dipl.-Ing. Alexander Duda 
Unterwasserrobotik

DFKI Bremen
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