found a bunch more places which needed aligned allocation. but someho…

…w I'm still getting the alignment debug crash on RigidBody (from the RBM constructor) on win32
longshike · Oct 11, 2015 · e1865db · e1865db
1 parent 08eef3c
commit e1865db
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Showing 5 changed files with 9 additions and 9 deletions.
diff --git a/drake/examples/Pendulum/runDynamics.cpp b/drake/examples/Pendulum/runDynamics.cpp
@@ -9,7 +9,7 @@ int main(int argc, char* argv[]) {
   if(!lcm->good())
    return 1;
 
-  DrakeSystemPtr p = make_shared<PendulumWithBotVis>(lcm);
+  DrakeSystemPtr p = allocate_shared<PendulumWithBotVis>(Eigen::AlignedAllocator<PendulumWithBotVis>(),lcm);
   runLCM(p,*lcm,0,50,p->getRandomState());
 
   cout << "output frame: " << p->getOutputFrame() << endl;

diff --git a/drake/examples/Pendulum/runLQR.cpp b/drake/examples/Pendulum/runLQR.cpp
@@ -9,7 +9,7 @@ int main(int argc, char* argv[]) {
   if(!lcm->good())
     return 1;
 
-  std::shared_ptr<PendulumWithBotVis> pendulum = make_shared<PendulumWithBotVis>(lcm);
+  std::shared_ptr<PendulumWithBotVis> pendulum = allocate_shared<PendulumWithBotVis>(Eigen::AlignedAllocator<PendulumWithBotVis>(),lcm);
   DrakeSystemPtr controller = pendulum->balanceLQR();
 
   DrakeSystemPtr sys = feedback(pendulum,controller);

diff --git a/drake/systems/plants/RigidBodyManipulator.cpp b/drake/systems/plants/RigidBodyManipulator.cpp
@@ -44,7 +44,7 @@ RigidBodyManipulator::RigidBodyManipulator(const std::string &urdf_filename, con
 {
   a_grav << 0, 0, 0, 0, 0, -9.81;
 
-  shared_ptr<RigidBody> b = make_shared<RigidBody>();
+  shared_ptr<RigidBody> b = allocate_shared<RigidBody>(Eigen::aligned_allocator<RigidBody>());
   b->linkname = "world";
   b->robotnum = 0;
   b->body_index = 0;
@@ -60,7 +60,7 @@ RigidBodyManipulator::RigidBodyManipulator(void) :
 {
   a_grav << 0, 0, 0, 0, 0, -9.81;
 
-  shared_ptr<RigidBody> b = make_shared<RigidBody>();
+  shared_ptr<RigidBody> b = allocate_shared<RigidBody>(Eigen::aligned_allocator<RigidBody>());
   b->linkname = "world";
   b->robotnum = 0;
   b->body_index = 0;

diff --git a/drake/systems/plants/RigidBodyManipulatorURDF.cpp b/drake/systems/plants/RigidBodyManipulatorURDF.cpp
@@ -713,7 +713,7 @@ bool parseLoop(RigidBodyManipulator* model, TiXmlElement* node)
     cerr << "ERROR parsing loop joint rpy" << endl;
     return false;
   }
-  std::shared_ptr<RigidBodyFrame> frameA = make_shared<RigidBodyFrame>(name+"FrameA",body,xyz,rpy);
+  std::shared_ptr<RigidBodyFrame> frameA = allocate_shared<RigidBodyFrame>(Eigen::aligned_allocator<RigidBodyFrame>(), name+"FrameA",body,xyz,rpy);
 
   link_node = node->FirstChildElement("link2");
   linkname = link_node->Attribute("link");
@@ -732,7 +732,7 @@ bool parseLoop(RigidBodyManipulator* model, TiXmlElement* node)
     cerr << "ERROR parsing loop joint rpy" << endl;
     return false;
   }
-  std::shared_ptr<RigidBodyFrame> frameB = make_shared<RigidBodyFrame>(name+"FrameB",body,xyz,rpy);
+  std::shared_ptr<RigidBodyFrame> frameB = allocate_shared<RigidBodyFrame>(Eigen::aligned_allocator<RigidBodyFrame>(), name+"FrameB",body,xyz,rpy);
 
   TiXmlElement* axis_node = node->FirstChildElement("axis");
   if (axis_node && !parseVectorAttribute(axis_node, "xyz", axis)) {
@@ -778,7 +778,7 @@ bool parseFrame(RigidBodyManipulator* model, TiXmlElement* node)
   Matrix4d T;
   T << rpy2rotmat(rpy), xyz, 0,0,0,1;
 
-  std::shared_ptr<RigidBodyFrame> frame = make_shared<RigidBodyFrame>(frame_name,body,T);
+  std::shared_ptr<RigidBodyFrame> frame = allocate_shared<RigidBodyFrame>(Eigen::aligned_allocator<RigidBodyFrame>(), frame_name,body,T);
   model->addFrame(frame);
 
 

diff --git a/drake/systems/plants/constructModelmex.cpp b/drake/systems/plants/constructModelmex.cpp
@@ -70,7 +70,7 @@ void mexFunction( int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[] )
     //DEBUG
     //mexPrintf("constructModelmex: body %d\n",i);
     //END_DEBUG
-    shared_ptr<RigidBody> b = make_shared<RigidBody>();
+    shared_ptr<RigidBody> b = allocate_shared<RigidBody>(Eigen::aligned_allocator<RigidBody>());
     b->body_index = i;
 
     b->linkname = mxGetStdString(mxGetPropertySafe(pBodies, i, "linkname"));
@@ -352,7 +352,7 @@ void mexFunction( int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[] )
   //mexPrintf("constructModelmex: Parsing frames\n");
   //END_DEBUG
   for (int i = 0; i < num_frames; i++) {
-    shared_ptr<RigidBodyFrame> fr = make_shared<RigidBodyFrame>();
+    shared_ptr<RigidBodyFrame> fr = allocate_shared<RigidBodyFrame>(Eigen::aligned_allocator<RigidBodyFrame>());
 
 	fr->name = mxGetStdString(mxGetPropertySafe(pFrames, i, "name"));