test: update test to account for alignment issues

Author: jcarpent

unittest/python/test_geometry.py

@@ -32,7 +32,8 @@ def isapprox(a, b, epsilon=1e-6):
 # Coefficient-vector initialisation
 verbose and print("[Quaternion] Coefficient-vector initialisation")
 v = np.array([0.5, -0.5, 0.5, 0.5])
-qv = Quaternion(v)
+for k in range(10000):
+    qv = Quaternion(v)
 assert isapprox(qv.coeffs(), v)
 
 # Angle axis initialisation

unittest/python/test_std_vector.py

@@ -53,8 +53,8 @@ def checkZero(l):
 
 
 print("Check setZero() works:")
-print("l1:")
 std_vector.setZero(l1)
+print("l1:")
 print(l1)
 checkZero(l1)
 print("-----------------")

unittest/std_vector.cpp

@@ -7,22 +7,26 @@
 #include "eigenpy/eigen-from-python.hpp"
 #include "eigenpy/std-vector.hpp"
 
-template <typename MatType>
-void printVectorOfMatrix(const std::vector<MatType> &Ms) {
+template <typename MatType,
+          typename Allocator = Eigen::aligned_allocator<MatType> >
+void printVectorOfMatrix(const std::vector<MatType, Allocator> &Ms) {
   const std::size_t n = Ms.size();
   for (std::size_t i = 0; i < n; i++) {
     std::cout << "el[" << i << "] =\n" << Ms[i] << '\n';
   }
 }
 
-template <typename MatType>
-std::vector<MatType> copy(const std::vector<MatType> &Ms) {
-  std::vector<MatType> out = Ms;
+template <typename MatType,
+          typename Allocator = Eigen::aligned_allocator<MatType> >
+std::vector<MatType, Allocator> copy(
+    const std::vector<MatType, Allocator> &Ms) {
+  std::vector<MatType, Allocator> out = Ms;
   return out;
 }
 
-template <typename MatType>
-void setZero(std::vector<MatType> &Ms) {
+template <typename MatType,
+          typename Allocator = Eigen::aligned_allocator<MatType> >
+void setZero(std::vector<MatType, Allocator> &Ms) {
   for (std::size_t i = 0; i < Ms.size(); i++) {
     Ms[i].setZero();
   }