AlignedAllocator.hpp

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#ifndef DART_COMMON_DETAIL_ALIGNEDALLOCATOR_HPP_
#define DART_COMMON_DETAIL_ALIGNEDALLOCATOR_HPP_
 
#include <memory>
 
#include <Eigen/Core>
 
#include "dart/config.hpp"
 
namespace dart {
namespace common {
 
#if EIGEN_VERSION_AT_LEAST(3, 2, 1) && EIGEN_VERSION_AT_MOST(3, 2, 8)
 
namespace detail {
 
// Ref: https://bitbucket.org/eigen/eigen/commits/f5b7700
// TODO: Remove this and use Eigen::aligned_allocator once new version of Eigen
// is released with above commit.
template <class T>
class aligned_allocator_cpp11 : public std::allocator<T>
{
public:
  typedef std::size_t size_type;
  typedef std::ptrdiff_t difference_type;
  typedef T* pointer;
  typedef const T* const_pointer;
  typedef T& reference;
  typedef const T& const_reference;
  typedef T value_type;
 
  template <class U>
  struct rebind
  {
    typedef aligned_allocator_cpp11<U> other;
  };
 
  aligned_allocator_cpp11() : std::allocator<T>() {}
 
  aligned_allocator_cpp11(const aligned_allocator_cpp11& other)
    : std::allocator<T>(other)
  {
  }
 
  template <class U>
  aligned_allocator_cpp11(const aligned_allocator_cpp11<U>& other)
    : std::allocator<T>(other)
  {
  }
 
  ~aligned_allocator_cpp11() {}
 
  pointer allocate(size_type num, const void* /*hint*/ = 0)
  {
    Eigen::internal::check_size_for_overflow<T>(num);
    return static_cast<pointer>(
        Eigen::internal::aligned_malloc(num * sizeof(T)));
  }
 
  void deallocate(pointer p, size_type /*num*/)
  {
    Eigen::internal::aligned_free(p);
  }
};
 
} // namespace detail
 
#endif // EIGEN_VERSION_AT_LEAST(3,2,1) && EIGEN_VERSION_AT_MOST(3,2,8)
 
} // namespace common
} // namespace dart
 
#endif // DART_COMMON_DETAIL_ALIGNEDALLOCATOR_HPP_