text: /*
   * Copyright (c) 2011-2018, The DART development contributors
   * All rights reserved.
   *
   * The list of contributors can be found at:
   *   https://github.com/dartsim/dart/blob/master/LICENSE
   *
   * This file is provided under the following "BSD-style" License:
   *   Redistribution and use in source and binary forms, with or
   *   without modification, are permitted provided that the following
   *   conditions are met:
   *   * Redistributions of source code must retain the above copyright
   *     notice, this list of conditions and the following disclaimer.
   *   * Redistributions in binary form must reproduce the above
   *     copyright notice, this list of conditions and the following
   *     disclaimer in the documentation and/or other materials provided
   *     with the distribution.
   *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
   *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
   *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
   *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
   *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
   *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
   *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
   *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
   *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
   *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   *   POSSIBILITY OF SUCH DAMAGE.
   */
  
  #ifndef DART_COMMON_DETAIL_ALIGNEDALLOCATOR_HPP_
  #define DART_COMMON_DETAIL_ALIGNEDALLOCATOR_HPP_
  
  #include <memory>
  #include <Eigen/Core>
  #include "dart/config.hpp"
  
  namespace dart {
  namespace common {
  
  #if EIGEN_VERSION_AT_LEAST(3,2,1) && EIGEN_VERSION_AT_MOST(3,2,8)
  
  namespace detail {
  
  /// Aligned allocator that is compatible with C++11
  // Ref: https://bitbucket.org/eigen/eigen/commits/f5b7700
  // TODO: Remove this and use Eigen::aligned_allocator once new version of Eigen
  // is released with above commit.
  template <class T>
  class aligned_allocator_cpp11 : public std::allocator<T>
  {
  public:
    typedef std::size_t     size_type;
    typedef std::ptrdiff_t  difference_type;
    typedef T*              pointer;
    typedef const T*        const_pointer;
    typedef T&              reference;
    typedef const T&        const_reference;
    typedef T               value_type;
  
    template <class U>
    struct rebind
    {
      typedef aligned_allocator_cpp11<U> other;
    };
  
    aligned_allocator_cpp11()
      : std::allocator<T>() {}
  
    aligned_allocator_cpp11(const aligned_allocator_cpp11& other)
      : std::allocator<T>(other) {}
  
    template <class U>
    aligned_allocator_cpp11(const aligned_allocator_cpp11<U>& other)
      : std::allocator<T>(other) {}
  
    ~aligned_allocator_cpp11() {}
  
    pointer allocate(size_type num, const void* /*hint*/ = 0)
    {
      Eigen::internal::check_size_for_overflow<T>(num);
      return static_cast<pointer>( Eigen::internal::aligned_malloc(num * sizeof(T)) );
    }
  
    void deallocate(pointer p, size_type /*num*/)
    {
      Eigen::internal::aligned_free(p);
    }
  };
  
  } // namespace detail
  
  #endif // EIGEN_VERSION_AT_LEAST(3,2,1) && EIGEN_VERSION_AT_MOST(3,2,8)
  
  } // namespace common
  } // namespace dart
  
  #endif // DART_COMMON_DETAIL_ALIGNEDALLOCATOR_HPP_
  