如何将Eigen :: Matrix放置到共享内存（或堆）？
[英]How to do placement allocation Eigen::Matrix to Shared Memory (or Heap)?
问题描述
I just tried to allocate an instance which contains Eigen::Matrix to Xenomai's shared memory. 
我只是尝试将包含Eigen :: Matrix的实例分配给Xenomai的共享内存。
unsigned char * mem; //shared memory pointer
Robot * robot = new ((void *)(mem+ROBOT_ADDR)) Robot();
The Robot class contains several Eigen::Matrix. Robot类包含几个Eigen :: Matrix。 However, I can't allocate robot object in my shared memory. 但是，我无法在共享内存中分配机器人对象。
But the basic allocation was working well lke below. 但基本配置在下面工作得很好。
Robot * robot = new Robot(); //work well!
The Assertion log is: 断言日志是：
Eigen::internal::plain_array::plain_array() [with T = double;
I already checked the web page in the log. 我已经在日志中检查了网页。 But there is no solution for my case. 但我的案子没有解决办法。
How to do placement allocation Eigen::Matrix to Shared Memory (or user-defined specific heap)? 如何将Eigen :: Matrix放置到共享内存（或用户定义的特定堆）？
1 个解决方案
解决方案1
2 已采纳 2017-07-21 04:01:50
As per the linked webpage: 根据链接的网页：
fixed-size vectorizable Eigen objects must absolutely be created at 16-byte-aligned locations, otherwise SIMD instructions addressing them will crash.
So the problem is that mem+ROBOT_ADDR is not 16-byte aligned. 所以问题是mem+ROBOT_ADDR不是16字节对齐的。 You need to ensure that it is. 你需要确保它是。
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