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

Hi Ruben:

 

OS: Linux 3.2.0-4-486 

Distro: Debian stable ( Debian 3.2.57-3+deb7u1 i686 GNU/Linux)

Compiler: gcc-4.7  ( debian package : gcc-4.7-base:i386    version  4.7.2-5 )

 

There was an error in my post due to an erroneous copy&paste, sorry.

The function not declared outside the JntSpaceInertiaMatrix class is:

 

void Multiply(const JntSpaceInertiaMatrix& src,const double& factor,JntSpaceInertiaMatrix& dest);

 

and not the 

 

void Multiply(const KDL::JntArray&, const double&, KDL::JntArray&)

 

as I indicated in the previous post. I am sorry for the inaccuracy in the error reporting.

 

Thanks

Nicola

 

 

 

Da: Ruben Smits [mailto:[email protected]] 
Inviato: giovedì 18 settembre 2014 11:39
A: Nicola Pedrocchi
Cc: [email protected]
Oggetto: Re: [Orocos-Dev] KDL in ROS - error in kdl/jntspaceinertiamatrix.hpp?

 

Hi Nicola,

 

On Thu, Sep 18, 2014 at 9:44 AM, Nicola Pedrocchi <[email protected] <mailto:[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 <tel:%2B390223699625> 

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skypeid: nicola.pedrocchi

 


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