Use EigenAlignedVec for RenderableObjectState

Jmeyer1292 · Jul 7, 2020 · f5b6df9 · f5b6df9
1 parent dc60696
commit f5b6df9
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Showing 4 changed files with 17 additions and 14 deletions.
diff --git a/include/gl_depth_sim/mesh.h b/include/gl_depth_sim/mesh.h
@@ -10,12 +10,9 @@ namespace gl_depth_sim
 template <typename T>
 using EigenAlignedVec = std::vector<T, Eigen::aligned_allocator<T>>;
 
-
 class Mesh
 {
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-
   Mesh(const EigenAlignedVec<Eigen::Vector3f>& vertices, const std::vector<unsigned>& indices);
 
   std::size_t numIndices() const { return indices_.size(); }
@@ -24,6 +21,8 @@ class Mesh
   const std::vector<unsigned>& indices() const { return indices_; }
   const EigenAlignedVec<Eigen::Vector3f>& vertices() const { return vertices_; }
 
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
 private:
   EigenAlignedVec<Eigen::Vector3f> vertices_;
   std::vector<unsigned> indices_;

diff --git a/include/gl_depth_sim/shader_program.h b/include/gl_depth_sim/shader_program.h
@@ -10,8 +10,6 @@ namespace gl_depth_sim
 class ShaderProgram
 {
 public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
-
   ShaderProgram(const std::string& vertex_shader, const std::string& frag_shader);
   ~ShaderProgram();
 
@@ -21,6 +19,8 @@ class ShaderProgram
   void setInt(const std::string& attr, int val);
   void setUniformMat4(const std::string &attr, const Eigen::Matrix4f& mat);
 
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
 private:
   unsigned int id_;
 };

diff --git a/include/gl_depth_sim/sim_depth_camera.h b/include/gl_depth_sim/sim_depth_camera.h
@@ -1,10 +1,12 @@
 #ifndef GL_DEPTH_SIM_SIM_DEPTH_CAMERA_H
 #define GL_DEPTH_SIM_SIM_DEPTH_CAMERA_H
 
-#include "gl_depth_sim/camera_properties.h"
-#include "gl_depth_sim/glfw_guard.h"
-#include "gl_depth_sim/renderable_mesh.h"
-#include "gl_depth_sim/shader_program.h"
+#include <gl_depth_sim/camera_properties.h>
+#include <gl_depth_sim/glfw_guard.h>
+#include <gl_depth_sim/renderable_mesh.h>
+#include <gl_depth_sim/shader_program.h>
+
+#include <Eigen/Core>
 
 #include <memory>
 #include <vector>
@@ -16,6 +18,9 @@ struct GLFWwindow;
 namespace gl_depth_sim
 {
 
+template <typename T>
+using EigenAlignedVec = std::vector<T, Eigen::aligned_allocator<T>>;
+
 /**
  * @brief Utility data structure used internally by @class SimDepthCamera
  */
@@ -39,6 +44,8 @@ struct RenderableObjectState
 class SimDepthCamera
 {
 public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
   /**
    * @brief Creates an OpenGL context and window using the given camera parameters. Only one of these should be created
    * at a time.
@@ -83,9 +90,6 @@ class SimDepthCamera
   GLFWwindow* window_;
   std::unique_ptr<ShaderProgram> depth_program_;
   unsigned int fbo_;
-
-public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
 
 }

diff --git a/src/gl_depth_sim/sim_depth_camera.cpp b/src/gl_depth_sim/sim_depth_camera.cpp
@@ -44,8 +44,8 @@ static Eigen::Matrix4d createProjectionMatrix(const gl_depth_sim::CameraProperti
 }
 
 gl_depth_sim::SimDepthCamera::SimDepthCamera(const gl_depth_sim::CameraProperties& camera)
-  : camera_{camera}
-  , proj_{createProjectionMatrix(camera)}
+  : camera_(camera)
+  , proj_(createProjectionMatrix(camera))
 {
   // Load GLFW and OpenGL libraries; create window; create extensions
   initGLFW();