From aa42934cef8a5f545518bbfe3d7ddf4825818b3b Mon Sep 17 00:00:00 2001
From: Jens Verwiebe <info@jensverwiebe.de>
Date: Wed, 7 Nov 2012 21:19:43 +0000
Subject: itask: reworked conditionals for osx version compatibility

---
 intern/itasc/kdl/chain.hpp |  9 +++++++--
 intern/itasc/kdl/tree.hpp  | 19 +++++++++++++++----
 2 files changed, 22 insertions(+), 6 deletions(-)

(limited to 'intern/itasc/kdl')

diff --git a/intern/itasc/kdl/chain.hpp b/intern/itasc/kdl/chain.hpp
index 24e40858bff..fde9d4ed23e 100644
--- a/intern/itasc/kdl/chain.hpp
+++ b/intern/itasc/kdl/chain.hpp
@@ -35,11 +35,16 @@ namespace KDL {
      */
     class Chain {
     private:
-#if !defined(__APPLE__)
+#if defined(__APPLE__)
+#  if MAC_OS_X_VERSION_MIN_REQUIRED <= MAC_OS_X_VERSION_10_5
+		std::vector<Segment> segments;
+#  else
         // Eigen allocator is needed for alignment of Eigen data types
         std::vector<Segment, Eigen::aligned_allocator<Segment> > segments;
+#  endif /* MAC_OS_X_VERSION_MIN_REQUIRED */
 #else
-        std::vector<Segment> segments;
+        // Eigen allocator is needed for alignment of Eigen data types
+        std::vector<Segment, Eigen::aligned_allocator<Segment> > segments;
 #endif
         unsigned int nrOfJoints;
         unsigned int nrOfSegments;
diff --git a/intern/itasc/kdl/tree.hpp b/intern/itasc/kdl/tree.hpp
index 4da764ac6d6..a020c6cf2cf 100644
--- a/intern/itasc/kdl/tree.hpp
+++ b/intern/itasc/kdl/tree.hpp
@@ -27,19 +27,30 @@
 
 #include <string>
 #include <map>
-#if !defined(__APPLE__)
-#include <Eigen/Core>
+#if defined(__APPLE__)
+#  if MAC_OS_X_VERSION_MIN_REQUIRED <= MAC_OS_X_VERSION_10_5
+    //no include
+#  else
+#    include <Eigen/Core>
+#  endif /* MAC_OS_X_VERSION_MIN_REQUIRED */
+#else
+#  include <Eigen/Core>
 #endif
 
 namespace KDL
 {
     //Forward declaration
     class TreeElement;
-#if !defined(__APPLE__)
+#if defined(__APPLE__)
+#  if MAC_OS_X_VERSION_MIN_REQUIRED <= MAC_OS_X_VERSION_10_5
+    typedef std::map<std::string,TreeElement> SegmentMap;
+#  else
     // Eigen allocator is needed for alignment of Eigen data types
     typedef std::map<std::string,TreeElement, std::less<std::string>, Eigen::aligned_allocator<std::pair<std::string, TreeElement> > > SegmentMap;
+#  endif /* MAC_OS_X_VERSION_MIN_REQUIRED */
 #else
-    typedef std::map<std::string,TreeElement> SegmentMap;
+    // Eigen allocator is needed for alignment of Eigen data types
+    typedef std::map<std::string,TreeElement, std::less<std::string>, Eigen::aligned_allocator<std::pair<std::string, TreeElement> > > SegmentMap;
 #endif
     class TreeElement
     {
-- 
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