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

[Sylvain Joyeux]

> 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.
??? this is not the problem at all.

There is no base::Quaternion, it is simply a typedef to 
Eigen::Quaterniond (i.e. they are the same type)


> the workaround for now is to add:
add_definitions(-DEIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT)
Just adding this definition should be enough, as Eigen::Quaterniond is 
not vectorized

> -DEIGEN_DONT_VECTORIZE)
> add_definitions(-DEIGEN_DONT_ALIGN)
>
> to the CMakeLists.txt from:
> base/types
> drivers/transformer
> gui/vizkit
> slam/envire
Well, to be complete, you need it on all packages that use 
base::Quaternion while assuming it is not aligned (which is probably 
much more than the ones you listed). And the orogen components that have 
dataflow with one of these types.
-- 
Sylvain Joyeux (Dr.Ing.)
Space & Security Robotics

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