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

On Thu, Sep 18, 2014 at 12:55 PM, Nicola Pedrocchi <
[email protected]> wrote:

> 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.
>
>
>

I guess you mean
void Multiply(const JntSpaceInertiaMatrix& src, const JntArray& vec,
JntArray& dest);

which is the function used on line 55 of kukaLWRtestHCG.cpp

For some reason the compiler wants to use the Multiply(const
KDL::JntArray&, const double&, KDL::JntArray&) instead and fails in
converting the JntSpaceInertiaMatrix into a JntArray.

We probably miss the explicit keyword for some of our copy-constructors as
explained here
http://stackoverflow.com/questions/3112602/c-implicit-conversions-and-ambiguity-in-overloaded-function-call

I was able to reproduce your problem, I'm currently working on a solution.

R.




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

---------------------------------------------------------------------------------------------------------------------------------------
This email and any attached files are confidential and may be legally
privileged. Any copy, print or forward of this email, without the agreement
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the law on personal data protection (D. Lgs. 196/2003) and on secrecy of
correspondence (art. 616 cp). If you have received this transmission in
error please notify the sender immediately and then delete this email and
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