Assertion on unaligned arrays failing (sometimes)

[Tommsy64]

I am trying to run the following on the roboRIO:

public void initialize() {
    DcMotor motor = new DcMotor(12.0, 5330 * 2.0 * Math.PI / 60.0 / 12.75, 2 * 2.7, 2 * 131.0, 2 * 2.41 * 12.75);
    CoupledChassis chassis = new CoupledChassis(motor, motor, 0.0762, 0.5, 25.0);
    CoupledCausalTrajGen gen = new CoupledCausalTrajGen(chassis);

    TrapezoidalProfile profile = new TrapezoidalProfile();

    List<HermiteQuintic.Waypoint> waypoints = new ArrayList<>();
    waypoints.add(new HermiteQuintic.Waypoint(Vec2.cartesian(0, 0), Vec2.cartesian(5, 0), Vec2.cartesian(0, 0)));
    waypoints.add(new HermiteQuintic.Waypoint(Vec2.cartesian(4, 4), Vec2.cartesian(0, 5), Vec2.cartesian(0, 0)));

    List<HermiteQuintic> hermites = HermiteFactory.generateQuintic(waypoints);
    ArcParameterizer param = new ArcParameterizer();
    param.configure(0.01, 0.01);
    List<? extends Curve2d> curves = param.parameterize(hermites);

    gen.configure(curves, profile);

    CoupledState state = new CoupledState();

    for (double t = 0; !state.finished && t < 5; t += 0.01) {
        state = gen.generate(state, t);
        echo(state);
    }

    motor.close();
    chassis.close();
    gen.close();
    param.close();
    profile.close();
}

private static void echo(CoupledState state) {
    Object obj[] = new Object[] {
            state.time, state.config.position.x(), state.config.position.y(),
            state.config.heading, state.kinematics.distance, state.kinematics.velocity, state.kinematics.acceleration,
            state.curvature, 0, 0, 0,
    };
    log.debug("{}", obj);
}

However, it will crash (sometime before reaching the echo(state); line) with the following message from eigen:

java: /__w/1/s/libs/eigen/Eigen/src/Core/DenseStorage.h:109:
Eigen::internal::plain_array<T, Size, MatrixOrArrayOptions, 16>::plain_array() [with T = double; int Size = 8; int MatrixOrArrayOptions = 0]: Assertion `(internal::UIntPtr(eigen_unaligned_array_assert_workaround_gcc47(array)) & (15)) == 0 && "this assertion is explained here: " "http://eigen.tuxfamily.org/dox-devel/group__TopicUnalignedArrayAssert.html" " **** READ THIS WEB PAGE !!! ****"' failed

Other times, the entire command runs successfully.

I am using Pathfinder and Pathfinder-JNI 2.0.0-prealpha.
Running the same code on my local windows environment does seem to crash.

[ajbt200128]

Has there been any updates on this issue? Presumably defining #define EIGEN_DONT_VECTORIZE and
#define EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT in the pathfinder.h cpp file then it will solve some of these issues, but for whatever reason when a coupledstate is created the same error arises

[JaciBrunning]

You can apply the diff from #13 to fix this issue currently. I haven't merged it since it conflicts with my staging local changes and I don't have time to fix it just yet.