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

[Alexander Duda]

On Thu, 2011-03-24 at 15:30 +0100, Sylvain Joyeux wrote:
> > 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)

I wanted to keep things simple. You are using implicit type conversion
between Eigen::Matrix<double, 3, 1, Eigen::DontAlign> and
Eigen::Matrix<double, 3, 1, Eigen::AutoAlign>.

Eigen::Quaternion is not supporting this therefore "there is no implicit
type conversion" between base::Quaterniod and Eigen::Quaterniond which
is copying the non aligned data into an aligned data struct, because
they are like you said 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
True, but vizkit and envire are not tested to run on 32 Bit machines
therefore for quite a few classes the macro call
EIGEN_MAKE_ALIGNED_OPERATOR_NEW is missing.
 
> > -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.
like I said I wanted to keep it simple

Alex


-- 
Dipl.-Ing. Alexander Duda 
Unterwasserrobotik

DFKI Bremen
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