Fix Eigen alignment issues.

For proper alignment on the heap Eigen needs to have a custom
allocator. There are two forms, new and in-place new. To make sure
that memory is aligned using new, one needs to overload new by
adding EIGEN_MAKE_ALIGNED_OPERATOR_NEW to any struct which contains a
fixed size Eigen type either through inheritance or as a direct or
indirect member. For the in-place new one need to use the
Eigen::aligned_allocator (e.g. for std::vector, std::list,
FixedArray, etc.). For more details see:

This CL adds EIGEN_MAKE_ALIGNED_OPERATOR_NEW to all structs, which
contain fixed-size Eigen types and uses the Eigen::aligned_allocator
for containers which stores structs of fixed-size Eigen types.

Change-Id: I06c6c4fc74a6835918d5d1c571b7814a14c029d8
9 files changed
tree: 4ef319a004d4418921ef3595b6f1663d62efe432
  1. .clang-format
  2. .gitignore
  3. .travis.yml
  4. BUILD
  5. CMakeLists.txt
  10. bazel/
  11. cmake/
  12. config/
  13. data/
  14. docs/
  15. examples/
  16. include/
  17. internal/
  18. package.xml
  19. scripts/
  20. travis/

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Ceres Solver

Ceres Solver is an open source C++ library for modeling and solving large, complicated optimization problems. It is a feature rich, mature and performant library which has been used in production at Google since 2010. Ceres Solver can solve two kinds of problems.

  1. Non-linear Least Squares problems with bounds constraints.
  2. General unconstrained optimization problems.

Please see for more information.