Merge in alignment-related changes from 'origin/fix/msvc2017'

gtsam/base/Manifold.h

@@ -209,6 +209,12 @@ public:
     v << v1, v2;
     return v;
   }
+
+  // Alignment, see https://eigen.tuxfamily.org/dox/group__TopicStructHavingEigenMembers.html
+  enum { NeedsToAlign = (sizeof(M1) % 16) == 0 || (sizeof(M2) % 16) == 0
+  };
+public:
+	EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
 };
 
 // Define any direct product group to be a model of the multiplicative Group concept

gtsam/geometry/CalibratedCamera.h

@@ -229,10 +229,6 @@ private:
   void serialize(Archive & ar, const unsigned int /*version*/) {
     ar & BOOST_SERIALIZATION_NVP(pose_);
   }
-
-public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-
 };
 // end of class PinholeBase
 
@@ -416,9 +412,6 @@ private:
   }
 
   /// @}
-
-public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
 
 // manifold traits

gtsam/geometry/Point3.h

@@ -157,28 +157,28 @@ struct traits<const Point3> : public internal::VectorSpace<Point3> {};
 
 // Convenience typedef
 typedef std::pair<Point3, Point3> Point3Pair;
-std::ostream &operator<<(std::ostream &os, const gtsam::Point3Pair &p);
+GTSAM_EXPORT std::ostream &operator<<(std::ostream &os, const gtsam::Point3Pair &p);
 
 /// distance between two points
-double distance3(const Point3& p1, const Point3& q,
+GTSAM_EXPORT double distance3(const Point3& p1, const Point3& q,
-                 OptionalJacobian<1, 3> H1 = boost::none,
+	                          OptionalJacobian<1, 3> H1 = boost::none,
-                 OptionalJacobian<1, 3> H2 = boost::none);
+                              OptionalJacobian<1, 3> H2 = boost::none);
 
 /// Distance of the point from the origin, with Jacobian
-double norm3(const Point3& p, OptionalJacobian<1, 3> H = boost::none);
+GTSAM_EXPORT double norm3(const Point3& p, OptionalJacobian<1, 3> H = boost::none);
 
 /// normalize, with optional Jacobian
-Point3 normalize(const Point3& p, OptionalJacobian<3, 3> H = boost::none);
+GTSAM_EXPORT Point3 normalize(const Point3& p, OptionalJacobian<3, 3> H = boost::none);
 
 /// cross product @return this x q
-Point3 cross(const Point3& p, const Point3& q,
+GTSAM_EXPORT Point3 cross(const Point3& p, const Point3& q,
-             OptionalJacobian<3, 3> H_p = boost::none,
+                          OptionalJacobian<3, 3> H_p = boost::none,
-             OptionalJacobian<3, 3> H_q = boost::none);
+                          OptionalJacobian<3, 3> H_q = boost::none);
 
 /// dot product
-double dot(const Point3& p, const Point3& q,
+GTSAM_EXPORT double dot(const Point3& p, const Point3& q,
-           OptionalJacobian<1, 3> H_p = boost::none,
+                        OptionalJacobian<1, 3> H_p = boost::none,
-           OptionalJacobian<1, 3> H_q = boost::none);
+                        OptionalJacobian<1, 3> H_q = boost::none);
 
 template <typename A1, typename A2>
 struct Range;

gtsam/geometry/Pose2.h

@@ -278,6 +278,12 @@ private:
     ar & BOOST_SERIALIZATION_NVP(t_);
     ar & BOOST_SERIALIZATION_NVP(r_);
   }
+
+#ifdef GTSAM_TYPEDEF_POINTS_TO_VECTORS
+public:
+  // Make sure Pose2 is aligned if it contains a Vector2
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+#endif
 }; // Pose2
 
 /** specialization for pose2 wedge function (generic template in Lie.h) */

gtsam/geometry/Pose3.h

@@ -327,9 +327,11 @@ public:
   }
   /// @}
 
- public:
+#ifdef GTSAM_USE_QUATERNIONS
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+  // Align if we are using Quaternions
-
+  public:
+    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+#endif
 };
 // Pose3 class
 

gtsam/geometry/Rot3.h

@@ -508,9 +508,11 @@ namespace gtsam {
 #endif
     }
 
-   public:
+#ifdef GTSAM_USE_QUATERNIONS
+  // only align if quaternion, Matrix3 has no alignment requirements
+  public:
     EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-
+#endif
   };
 
   /**

gtsam/navigation/AttitudeFactor.h

@@ -129,6 +129,9 @@ private:
     ar & BOOST_SERIALIZATION_NVP(nZ_);
     ar & BOOST_SERIALIZATION_NVP(bRef_);
   }
+
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
 
 /// traits
@@ -213,6 +216,9 @@ private:
     ar & BOOST_SERIALIZATION_NVP(nZ_);
     ar & BOOST_SERIALIZATION_NVP(bRef_);
   }
+
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
 
 /// traits

gtsam/slam/BetweenFactor.h

@@ -122,6 +122,11 @@ namespace gtsam {
           boost::serialization::base_object<Base>(*this));
       ar & BOOST_SERIALIZATION_NVP(measured_);
     }
+  
+	  // Alignment, see https://eigen.tuxfamily.org/dox/group__TopicStructHavingEigenMembers.html
+	  enum { NeedsToAlign = (sizeof(VALUE) % 16) == 0 };
+    public:
+      EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
   }; // \class BetweenFactor
 
   /// traits

gtsam/slam/PriorFactor.h

@@ -104,6 +104,11 @@ namespace gtsam {
           boost::serialization::base_object<Base>(*this));
       ar & BOOST_SERIALIZATION_NVP(prior_);
     }
+  
+	// Alignment, see https://eigen.tuxfamily.org/dox/group__TopicStructHavingEigenMembers.html
+	enum { NeedsToAlign = (sizeof(T) % 16) == 0 };
+  public:
+	EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
   };
 
 } /// namespace gtsam