From a28bcaaec8c749c6942af48be2098a4cd459fa39 Mon Sep 17 00:00:00 2001
From: Justin Carpentier <justin.carpentier@inria.fr>
Date: Sat, 7 Jan 2023 16:56:07 +0100
Subject: [PATCH] test: update test to account for alignment issues
---
unittest/python/test_geometry.py | 3 ++-
unittest/python/test_std_vector.py | 2 +-
unittest/std_vector.cpp | 18 +++++++++++-------
3 files changed, 14 insertions(+), 9 deletions(-)
diff --git a/unittest/python/test_geometry.py b/unittest/python/test_geometry.py
index c2bd1b1a..cbcdc8ec 100644
--- a/unittest/python/test_geometry.py
+++ b/unittest/python/test_geometry.py
@@ -32,7 +32,8 @@ assert isapprox(np.linalg.norm(q.coeffs()), 1)
# Coefficient-vector initialisation
verbose and print("[Quaternion] Coefficient-vector initialisation")
v = np.array([0.5, -0.5, 0.5, 0.5])
-qv = Quaternion(v)
+for k in range(10000):
+ qv = Quaternion(v)
assert isapprox(qv.coeffs(), v)
# Angle axis initialisation
diff --git a/unittest/python/test_std_vector.py b/unittest/python/test_std_vector.py
index 52fd4c0d..8cd6ab76 100644
--- a/unittest/python/test_std_vector.py
+++ b/unittest/python/test_std_vector.py
@@ -53,8 +53,8 @@ def checkZero(l):
print("Check setZero() works:")
-print("l1:")
std_vector.setZero(l1)
+print("l1:")
print(l1)
checkZero(l1)
print("-----------------")
diff --git a/unittest/std_vector.cpp b/unittest/std_vector.cpp
index a3679917..12bb9e2c 100644
--- a/unittest/std_vector.cpp
+++ b/unittest/std_vector.cpp
@@ -7,22 +7,26 @@
#include "eigenpy/eigen-from-python.hpp"
#include "eigenpy/std-vector.hpp"
-template <typename MatType>
-void printVectorOfMatrix(const std::vector<MatType> &Ms) {
+template <typename MatType,
+ typename Allocator = Eigen::aligned_allocator<MatType> >
+void printVectorOfMatrix(const std::vector<MatType, Allocator> &Ms) {
const std::size_t n = Ms.size();
for (std::size_t i = 0; i < n; i++) {
std::cout << "el[" << i << "] =\n" << Ms[i] << '\n';
}
}
-template <typename MatType>
-std::vector<MatType> copy(const std::vector<MatType> &Ms) {
- std::vector<MatType> out = Ms;
+template <typename MatType,
+ typename Allocator = Eigen::aligned_allocator<MatType> >
+std::vector<MatType, Allocator> copy(
+ const std::vector<MatType, Allocator> &Ms) {
+ std::vector<MatType, Allocator> out = Ms;
return out;
}
-template <typename MatType>
-void setZero(std::vector<MatType> &Ms) {
+template <typename MatType,
+ typename Allocator = Eigen::aligned_allocator<MatType> >
+void setZero(std::vector<MatType, Allocator> &Ms) {
for (std::size_t i = 0; i < Ms.size(); i++) {
Ms[i].setZero();
}
--
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