UnalignedArrayAssert in SimpleLocalizer

[Sander van Dijk]

While running libbats-2.0 sample helloworldagent, I always get eigen assertion that says:

path/to/eigen2/Eigen/src/Core/MatrixStorage.h:44:
Eigen::ei_matrix_array<T, Size, MatrixOptions, Align>::ei_matrix_array()
[with T = double, int Size = 16, int MatrixOptions = 2, bool Align = true]:
Assertion `(reinterpret_cast<size_t>(array) & 0xf) == 0 && "this assertion
is explained here: http://eigen.tuxfamily.org/dox/UnalignedArrayAssert.html
 READ THIS WEB PAGE !!! ****"' failed.

The agent flashes in simspark monitor for a while and then gets vanished.

[Sander van Dijk (sgvandijk)]

This is due to the SimpleLocalizer using Eigen members wrongly. It can be solved by adding the following line in the public section of Localizer/SimpleLocalizer/simplelocalizer.hh (for instance at line 101):

      EIGEN_MAKE_ALIGNED_OPERATOR_NEW

However, it is probably better to use the KalmanLocalizer instead of SimpleLocalizer instead, because the SimpleLocalizer actually doesn't do much useful. For this, change:

  SLocalizer::initialize<SimpleLocalizer>();

To

  SLocalizer::initialize<KalmanLocalizer>();

in examples/helloworld/HelloWorldAgent/init.cc. This is changed in the bzr repository, and fixed in the next version. Also see attached patch.