Fix compilation on armhf.

iris-ua · Sep 2, 2022 · 59564c9 · 59564c9
1 parent 0f37ac5
commit 59564c9
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Showing 3 changed files with 13 additions and 9 deletions.
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -60,6 +60,10 @@ target_include_directories(iris_lama
 target_compile_features(iris_lama PUBLIC cxx_std_14)
 target_compile_options(iris_lama PRIVATE -Wall -Wextra)
 
+if (${CMAKE_SYSTEM_PROCESSOR} MATCHES "arm")
+    target_compile_options(iris_lama PRIVATE -faligned-new)
+endif()
+
 target_link_libraries(iris_lama PUBLIC pthread Eigen3::Eigen)
 target_include_directories(iris_lama PRIVATE extern/minisam)
 
diff --git a/src/loc2d.cpp b/src/loc2d.cpp
@@ -208,7 +208,7 @@ void lama::Loc2D::addSamplingCovariance(const PointCloudXYZ::Ptr& surface)
     Affine3d moving_tf = Translation3d(surface->sensor_origin_) * surface->sensor_orientation_;
 
     const size_t num_points = surface->points.size();
-    const size_t step = std::max(num_points / 100, 1ul);
+    const size_t step = std::max(num_points / 100, size_t(1));
 
     auto aa = AngleAxisd(pose_.rotation(), Vector3d::UnitZ());
     for (size_t i = 0; i < sampling_steps_.size(); ++i){

diff --git a/src/sdm/simple_occupancy_map.cpp b/src/sdm/simple_occupancy_map.cpp
@@ -34,7 +34,7 @@
 #include "lama/sdm/simple_occupancy_map.h"
 
 lama::SimpleOccupancyMap::SimpleOccupancyMap(double resolution, uint32_t patch_size, bool is3d)
-    : OccupancyMap(resolution, sizeof(char), patch_size, is3d)
+    : OccupancyMap(resolution, sizeof(int8_t), patch_size, is3d)
 {}
 
 lama::SimpleOccupancyMap::SimpleOccupancyMap(const SimpleOccupancyMap& other)
@@ -51,7 +51,7 @@ bool lama::SimpleOccupancyMap::setFree(const Vector3d& coordinates)
 
 bool lama::SimpleOccupancyMap::setFree(const Vector3ui& coordinates)
 {
-    char* cell = (char*) get(coordinates);
+    int8_t* cell = (int8_t*) get(coordinates);
     if (*cell == -1)
         return false;
 
@@ -66,7 +66,7 @@ bool lama::SimpleOccupancyMap::setOccupied(const Vector3d& coordinates)
 
 bool lama::SimpleOccupancyMap::setOccupied(const Vector3ui& coordinates)
 {
-    char* cell = (char*) get(coordinates);
+    int8_t* cell = (int8_t*) get(coordinates);
     if (*cell == 1)
         return false;
 
@@ -81,7 +81,7 @@ bool lama::SimpleOccupancyMap::setUnknown(const Vector3d& coordinates)
 
 bool lama::SimpleOccupancyMap::setUnknown(const Vector3ui& coordinates)
 {
-    char* cell = (char*) get(coordinates);
+    int8_t* cell = (int8_t*) get(coordinates);
     if ( *cell == 0 )
         return false;
 
@@ -96,7 +96,7 @@ bool lama::SimpleOccupancyMap::isFree(const Vector3d& coordinates) const
 
 bool lama::SimpleOccupancyMap::isFree(const Vector3ui& coordinates) const
 {
-    const char* cell = (const char*) get(coordinates);
+    const int8_t* cell = (const int8_t*) get(coordinates);
     if (cell == 0)
         return false;
 
@@ -110,7 +110,7 @@ bool lama::SimpleOccupancyMap::isOccupied(const Vector3d& coordinates) const
 
 bool lama::SimpleOccupancyMap::isOccupied(const Vector3ui& coordinates) const
 {
-    const char* cell = (const char*) get(coordinates);
+    const int8_t* cell = (const int8_t*) get(coordinates);
     if (cell == 0)
         return false;
 
@@ -124,7 +124,7 @@ bool lama::SimpleOccupancyMap::isUnknown(const Vector3d& coordinates) const
 
 bool lama::SimpleOccupancyMap::isUnknown(const Vector3ui& coordinates) const
 {
-    const char* cell = (const char*) get(coordinates);
+    const int8_t* cell = (const int8_t*) get(coordinates);
     if (cell == 0) return true;
 
     return *cell == 0;
@@ -137,7 +137,7 @@ double lama::SimpleOccupancyMap::getProbability(const Vector3d& coordinates) con
 
 double lama::SimpleOccupancyMap::getProbability(const Vector3ui& coordinates) const
 {
-    const char* cell = (const char*) get(coordinates);
+    const int8_t* cell = (const int8_t*) get(coordinates);
     if (cell == 0) return 0.5;
 
     switch(*cell){