Comment on Heap Allocation for Realtime USe

[jcarpinelli-bdai]

The following linked comment seems to label Eigen::Map as allocating memory on the heap. I understand Eigen::Map to provide a zero-copy view of the input memory, so there are no allocations on the heap. Is this an older comment, and should be removed? Or is my understanding about Eigen::Map incorrect?

kinematics_interface/kinematics_interface/src/kinematics_interface.cpp

Line 31 in 87e17b4

// TODO(anyone): heap allocation should be removed for realtime use