Segment faults on 32bit machine due to Alignment issues from Eigen

[dqyi11]

A few unit tests failed on 32bit machine due to segment faults.

The following tests FAILED: 14 - test_FrameDifferentiable (OTHER_FAULT) 21 - test_RnBoxConstraint (OTHER_FAULT) 22 - test_SE2BoxConstraint (OTHER_FAULT) 23 - test_RnConstantSampler (OTHER_FAULT) 25 - test_FiniteSampleable (OTHER_FAULT) 26 - test_CyclicSampleable (OTHER_FAULT) 33 - test_CartesianProductProjectable (OTHER_FAULT) 43 - test_BarrettHandKinematicSimulationPositionCommandExecutor (OTHER_FAULT) 52 - test_ParabolicTimer (OTHER_FAULT) 64 - test_VectorFieldPlanner (OTHER_FAULT) Errors while running CTest

They are caused by alignment issues from Eigen. https://eigen.tuxfamily.org/dox/group__DenseMatrixManipulation__Alignement.html

[dqyi11]

Resolved in PR #368

[jslee02]

Are all the tests are fixed? I remember there were some remaining issues.

[brianhou]

If I remember correctly, there are still alignment issues but @dqyi11 believes that they're in DART rather than AIKIDO at this point. If that's the case, maybe we should try to create a minimal test case that only uses DART to help with debugging.

I think we also concluded that since it's only (apparently) a problem on 32-bit machines, we shouldn't invest too much time into it. But now that @dqyi11 is really good at sniffing out those issues, it might be worth it for the two of you to set up a short debugging session to see if you can fix it quickly.

[jslee02]

@brianhou Thanks for the recalling the story. In that case, I would like to leave this issue open until we actually figure out whether if this is AIKIDO's issue or not.