eigen errors
Some programs crash when using std::vector containers of Eigen types (libbarrett defined types are based on Eigen) for some WAM configurations.
The problem was first observed in autotension and ex08, which crashed with an Eigen alignment error at runtime. However, it only caused a crash with a 4-DOF WAM running from the internal PC. On this particular configuration, the problem was consistently reproduced. I could not reproduce the problem using the same 4-DOF WAM from an external PC or using the same WAM in a 7-DOF configuration on the internal PC.
This is a cleaner and more complete version of the fix in the previous merge request. This method matches other locations in libbarrett.
For examples of other places that this fix already existed in libbarrett, see
- https://git.barrett.com/software/libbarrett/blob/devel/sandbox/teach_and_play/play.cpp#L101
- https://git.barrett.com/software/libbarrett/blob/devel/include/barrett/systems/detail/wam-inl.h#L400
Maybe of interest to
References: