Re: chainidsolver_vereshchagin.cpp - .lazy() and .corner

On Mon, Jan 20, 2014 at 8:29 AM, Leander Hille <[email protected]>wrote:

> Hello,
>
> I am having trouble at compiling the orocos-kdl library, more specific
> with:
> orocos_kinematics_dynamics\orocos_kdl\src\chainidsolver_vereshchagin.cpp
>
> Two certain elements of the Eigen library can not be found:
> 'corner' and 'lazy()'
>
> So far I have tried with Eigen 3.0.7 and 3.2.0.
>
> The exact compiler errors are (plenty of them, but always the same types):
>
> 1.)
> [...]\orocos_kinematics_dynamics\orocos_kdl\src\chainidsolver_vereshchagin.cpp(178):
> error C2039: 'corner': Ist kein Element von
> 'Eigen::Matrix<_Scalar,_Rows,_Cols>'
>
> 2.)
> [...]\orocos_kinematics_dynamics\orocos_kdl\src\chainidsolver_vereshchagin.cpp(173):
> error C2039: 'lazy': Ist kein Element von
> 'Eigen::CoeffBasedProduct<LhsNested,RhsNested,NestingFlags>'
>            with
>           [
>               LhsNested=const Eigen::Matrix<double,6,1> &,
>               RhsNested=const Eigen::Transpose<Eigen::Matrix<double,6,1>>,
>               NestingFlags=256
>           ]
>
>
> Details about the errorcode (in english) can be found here:
> http://msdn.microsoft.com/de-de/library/fdwb3fd7%28v=vs.110%29.aspx
> Visual Studio 2012, VS Compiler v110 and Win32 project map, OS is Win7 SP1
> x64.
>
> I have no idea where to search for the error root, at least all my
> previous searches failed. Any reference or hint would be very apreciated!
>

Looks like corner() and lazy() are old eigen2 calls that could be ported to
eigen3:
http://eigen.tuxfamily.org/dox/Eigen2ToEigen3.html#title4
http://eigen.tuxfamily.org/dox/Eigen2ToEigen3.html#title12

-j

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