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

Hi Nicola,

On Thu, Sep 18, 2014 at 9:44 AM, Nicola Pedrocchi <
[email protected]> wrote:

> 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&)’*
>
>
>
>
Could tell us which compiler you are using in what kind of OS?

Ruben


> 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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>
>


-- 
Ruben Smits, CTO
+32 479 511 786
Intermodalics - Kapeldreef 60, 3001 Heverlee - BELGIUM
www.intermodalics.eu

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