From d0550758afaf963577c07113c387cd67f0ffca52 Mon Sep 17 00:00:00 2001
From: Brecht Van Lommel <brechtvanlommel@pandora.be>
Date: Sun, 13 Nov 2011 12:25:14 +0000
Subject: [PATCH] Fix #29048: iTaSC solver crash on certain
 compilers/platforms, due to memory alignment issues with Eigen. Patch by
 Tobias Oelgarte.

---
 intern/itasc/kdl/chain.hpp | 3 ++-
 intern/itasc/kdl/tree.hpp  | 4 +++-
 2 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/intern/itasc/kdl/chain.hpp b/intern/itasc/kdl/chain.hpp
index 0d40690202a..a2b4905622e 100644
--- a/intern/itasc/kdl/chain.hpp
+++ b/intern/itasc/kdl/chain.hpp
@@ -34,7 +34,8 @@ namespace KDL {
      */
     class Chain {
     private:
-        std::vector<Segment> segments;
+        // Eigen allocator is needed for alignment of Eigen data types
+        std::vector<Segment, Eigen::aligned_allocator<Segment> > segments;
         unsigned int nrOfJoints;
         unsigned int nrOfSegments;
     public:
diff --git a/intern/itasc/kdl/tree.hpp b/intern/itasc/kdl/tree.hpp
index bdd3aa94572..6b822dcd1e0 100644
--- a/intern/itasc/kdl/tree.hpp
+++ b/intern/itasc/kdl/tree.hpp
@@ -27,12 +27,14 @@
 
 #include <string>
 #include <map>
+#include <Eigen/Core>
 
 namespace KDL
 {
     //Forward declaration
     class TreeElement;
-    typedef std::map<std::string,TreeElement> SegmentMap;
+    // Eigen allocator is needed for alignment of Eigen data types
+    typedef std::map<std::string,TreeElement, std::less<std::string>, Eigen::aligned_allocator<std::pair<std::string, TreeElement> > > SegmentMap;
 
     class TreeElement
     {