KDL in ROS - error in kdl/jntspaceinertiamatrix.hpp?

Hi, 

  I've encountered a small error in compiling the KDL library from ROS
repository in a Debian stable PC. 

I've found that in "kdl/jntspaceinertiamatrix.hpp" the function
Multiply(const KDL::JntArray&, const double&, KDL::JntArray&) is indicated
as friend in the declaration of the JntSpaceInertiaMatrix class, but it is
not declared externally to the class - even though it is correctly defined
in the jntspaceinertiamatrix.cpp.

 

Below you find the test that has arisen the problem:

 

1.       I've compiled also the "models", that is, in the cmake
configuration I have imposed -DBUILD_MODELS=ON -DBUILD_MODELS_DEMO=ON

2.       I've made a slight modification to the kukaLWRtestHCG.cpp:  I've
commented the using namespace KDL  ( I've commented line 11 as below )

3.       Then, I've added manually the KDL namespace everywhere needed. 

4.       In compiling I've got the following error:

 

../orocos_kinematics_dynamics/orocos_kdl/models/kukaLWRtestHCG.cpp: In
function 'int main(int, char**)':

./orocos_kinematics_dynamics/orocos_kdl/models/kukaLWRtestHCG.cpp:55:37:
error: invalid initialization of reference of type 'const KDL::JntArray&'
from expression of type 'KDL::JntSpaceInertiaMatrix'

In file included from
./orocos_kinematics_dynamics/orocos_kdl/src/frames_io.hpp:81:0,

                 from
../orocos_kinematics_dynamics/orocos_kdl/models/kukaLWRtestHCG.cpp:3:

./orocos_kinematics_dynamics/orocos_kdl/src/jntarray.hpp:182:10: error: in
passing argument 1 of 'void KDL::Multiply(const KDL::JntArray&, const
double&, KDL::JntArray&)'

 

5.       The problem has been solved by adding the declaration of
Multiply(const KDL::JntArray&, const double&, KDL::JntArray&) outside the
class JntSpaceInertiaMatrix.

 

I am not a skilled programmer, is it correct what I have done?

 

Nicola

 

 

-- 

Eng. Nicola Pedrocchi, PhD, Researcher

Institute of Industrial Technology and Automation

National Council of Research

Via Bassini, 15, 20133, Milan, Italy

 

office : +390223699625

lab.   : +390223699944

mobile : +393665797833

skypeid: nicola.pedrocchi

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