[transCoordsUsingJoints] Compilation error #97

rsantos88 · 2017-05-05T11:25:46Z

I am trying to compile kinematics-dynamic on transCoordsUsingJoints branch (I know that is developing at this moment...). It shows this messages:

Scanning dependencies of target BasicCartesianControl
[ 47%] Building CXX object libraries/TeoYarp/BasicCartesianControl/CMakeFiles/BasicCartesianControl.dir/yarp_plugin_BasicCartesianControl.cpp.o
[ 50%] Building CXX object libraries/TeoYarp/BasicCartesianControl/CMakeFiles/BasicCartesianControl.dir/DeviceDriverImpl.cpp.o
[ 52%] Building CXX object libraries/TeoYarp/BasicCartesianControl/CMakeFiles/BasicCartesianControl.dir/ICartesianControlImpl.cpp.o
[ 54%] Building CXX object libraries/TeoYarp/BasicCartesianControl/CMakeFiles/BasicCartesianControl.dir/RateThreadImpl.cpp.o
Linking CXX shared module ../../../lib/yarp/BasicCartesianControl.so
[ 54%] Built target BasicCartesianControl
[ 60%] Built target CartesianControlServer
[ 67%] Built target CartesianControlClient
Scanning dependencies of target BasicTwoLimbCartesianControl
[ 69%] Building CXX object libraries/TeoYarp/BasicTwoLimbCartesianControl/CMakeFiles/BasicTwoLimbCartesianControl.dir/yarp_plugin_BasicTwoLimbCartesianControl.cpp.o
[ 71%] Building CXX object libraries/TeoYarp/BasicTwoLimbCartesianControl/CMakeFiles/BasicTwoLimbCartesianControl.dir/DeviceDriverImpl.cpp.o
[ 73%] Building CXX object libraries/TeoYarp/BasicTwoLimbCartesianControl/CMakeFiles/BasicTwoLimbCartesianControl.dir/ICartesianControlImpl.cpp.o
[ 76%] Building CXX object libraries/TeoYarp/BasicTwoLimbCartesianControl/CMakeFiles/BasicTwoLimbCartesianControl.dir/RateThreadImpl.cpp.o
Linking CXX shared module ../../../lib/yarp/BasicTwoLimbCartesianControl.so
[ 76%] Built target BasicTwoLimbCartesianControl
[ 82%] Built target TwoLimbCartesianControlServer
[ 84%] Building CXX object programs/transCoordsUsingJoints/CMakeFiles/transCoordsUsingJoints.dir/PremultPorts.cpp.o
In file included from /home/teo/repos/kinematics-dynamics/programs/transCoordsUsingJoints/PremultPorts.hpp:9:0,
                 from /home/teo/repos/kinematics-dynamics/programs/transCoordsUsingJoints/PremultPorts.cpp:1:
/usr/local/include/yarp/dev/IEncoders.h:24:31: error: variable ‘YARP_dev_API yarp::dev::IEncodersRaw’ has initializer but incomplete type
 class YARP_dev_API yarp::dev::IEncodersRaw
                               ^
/usr/local/include/yarp/dev/IEncoders.h:26:1: error: expected primary-expression before ‘public’
 public:
 ^
/usr/local/include/yarp/dev/IEncoders.h:26:1: error: expected ‘}’ before ‘public’
/usr/local/include/yarp/dev/IEncoders.h:26:1: error: expected ‘,’ or ‘;’ before ‘public’
/usr/local/include/yarp/dev/IEncoders.h:37:33: error: ‘virtual’ outside class declaration
     virtual bool getAxes(int *ax) = 0;
                                 ^
/usr/local/include/yarp/dev/IEncoders.h:37:37: error: function ‘bool getAxes(int*)’ is initialized like a variable
     virtual bool getAxes(int *ax) = 0;
                                     ^
/usr/local/include/yarp/dev/IEncoders.h:44:39: error: ‘virtual’ outside class declaration
     virtual bool resetEncoderRaw(int j)=0;
                                       ^
/usr/local/include/yarp/dev/IEncoders.h:44:41: error: function ‘bool resetEncoderRaw(int)’ is initialized like a variable
     virtual bool resetEncoderRaw(int j)=0;
                                         ^
/usr/local/include/yarp/dev/IEncoders.h:50:35: error: ‘virtual’ outside class declaration
     virtual bool resetEncodersRaw()=0;
                                   ^
/usr/local/include/yarp/dev/IEncoders.h:50:37: error: function ‘bool resetEncodersRaw()’ is initialized like a variable
     virtual bool resetEncodersRaw()=0;
                                     ^
/usr/local/include/yarp/dev/IEncoders.h:58:49: error: ‘virtual’ outside class declaration
     virtual bool setEncoderRaw(int j, double val)=0;
                                                 ^
/usr/local/include/yarp/dev/IEncoders.h:58:51: error: function ‘bool setEncoderRaw(int, double)’ is initialized like a variable
     virtual bool setEncoderRaw(int j, double val)=0;
                                                   ^
/usr/local/include/yarp/dev/IEncoders.h:65:51: error: ‘virtual’ outside class declaration
     virtual bool setEncodersRaw(const double *vals)=0;
                                                   ^
/usr/local/include/yarp/dev/IEncoders.h:65:53: error: function ‘bool setEncodersRaw(const double*)’ is initialized like a variable
     virtual bool setEncodersRaw(const double *vals)=0;
                                                     ^
/usr/local/include/yarp/dev/IEncoders.h:73:48: error: ‘virtual’ outside class declaration
     virtual bool getEncoderRaw(int j, double *v)=0;
                                                ^
/usr/local/include/yarp/dev/IEncoders.h:73:50: error: function ‘bool getEncoderRaw(int, double*)’ is initialized like a variable
     virtual bool getEncoderRaw(int j, double *v)=0;
                                                  ^
/usr/local/include/yarp/dev/IEncoders.h:80:45: error: ‘virtual’ outside class declaration
     virtual bool getEncodersRaw(double *encs)=0;
                                             ^
/usr/local/include/yarp/dev/IEncoders.h:80:47: error: function ‘bool getEncodersRaw(double*)’ is initialized like a variable
     virtual bool getEncodersRaw(double *encs)=0;
                                               ^
/usr/local/include/yarp/dev/IEncoders.h:88:54: error: ‘virtual’ outside class declaration
     virtual bool getEncoderSpeedRaw(int j, double *sp)=0;
                                                      ^
/usr/local/include/yarp/dev/IEncoders.h:88:56: error: function ‘bool getEncoderSpeedRaw(int, double*)’ is initialized like a variable
     virtual bool getEncoderSpeedRaw(int j, double *sp)=0;
                                                        ^
/usr/local/include/yarp/dev/IEncoders.h:95:50: error: ‘virtual’ outside class declaration
     virtual bool getEncoderSpeedsRaw(double *spds)=0;
                                                  ^
/usr/local/include/yarp/dev/IEncoders.h:95:52: error: function ‘bool getEncoderSpeedsRaw(double*)’ is initialized like a variable
     virtual bool getEncoderSpeedsRaw(double *spds)=0;
                                                    ^
/usr/local/include/yarp/dev/IEncoders.h:102:63: error: ‘virtual’ outside class declaration
     virtual bool getEncoderAccelerationRaw(int j, double *spds)=0;
                                                               ^
/usr/local/include/yarp/dev/IEncoders.h:102:65: error: function ‘bool getEncoderAccelerationRaw(int, double*)’ is initialized like a variable
     virtual bool getEncoderAccelerationRaw(int j, double *spds)=0;
                                                                 ^
/usr/local/include/yarp/dev/IEncoders.h:109:57: error: ‘virtual’ outside class declaration
     virtual bool getEncoderAccelerationsRaw(double *accs)=0;
                                                         ^
/usr/local/include/yarp/dev/IEncoders.h:109:59: error: function ‘bool getEncoderAccelerationsRaw(double*)’ is initialized like a variable
     virtual bool getEncoderAccelerationsRaw(double *accs)=0;
                                                           ^
/usr/local/include/yarp/dev/IEncoders.h:110:1: error: expected declaration before ‘}’ token
 };
 ^
programs/transCoordsUsingJoints/CMakeFiles/transCoordsUsingJoints.dir/build.make:54: recipe for target 'programs/transCoordsUsingJoints/CMakeFiles/transCoordsUsingJoints.dir/PremultPorts.cpp.o' failed
make[2]: *** [programs/transCoordsUsingJoints/CMakeFiles/transCoordsUsingJoints.dir/PremultPorts.cpp.o] Error 1
CMakeFiles/Makefile2:837: recipe for target 'programs/transCoordsUsingJoints/CMakeFiles/transCoordsUsingJoints.dir/all' failed
make[1]: *** [programs/transCoordsUsingJoints/CMakeFiles/transCoordsUsingJoints.dir/all] Error 2
Makefile:116: recipe for target 'all' failed
make: *** [all] Error 2

I think it could be helpful for future problems...

PeterBowman · 2017-05-05T12:03:28Z

/usr/local/include/yarp/dev/IEncoders.h:24:31: error: variable ‘YARP_dev_API yarp::dev::IEncodersRaw’ has initializer but incomplete type
 class YARP_dev_API yarp::dev::IEncodersRaw

It looks like it's treating YARP_dev_API as the type of yarp::dev::IEncodersRaw (¿?). I could reproduce this error and "solve" it by adding #include <yarp/dev/api.h> before #include <yarp/dev/IEncoders.h> in PremultPorts.hpp.

PeterBowman · 2017-05-05T12:14:12Z

This is an upstream bug solved in current master branch at robotology/yarp@5ea5c2a. I'd just put said include and remove it once next YARP is released (although leaving it there forever won't hurt anyway).

jgvictores · 2017-05-06T14:56:31Z

Applied temporary fix at 9091d60. Ok to remove it once next YARP is released (2.3.70 I guess).

rsantos88 · 2017-05-08T11:11:14Z

Thanks @PeterBowman @jgvictores !!

Fixed at robotology/yarp#1127.

PeterBowman · 2017-05-18T20:07:45Z

We'd like to keep track of the fix and eventually remove it at certain point (it will be no longer needed at YARP 2.3.68.1/2.3.70). @jgvictores I've perpetrated 791b0a3. What do you think?

jgvictores · 2017-05-18T20:12:04Z

Mmmm looks like the conditional is on:

#include <yarp/dev/IEncoders.h>

Rather than the hack which is actually including:

#include <yarp/dev/api.h>

Right? 😅

PeterBowman · 2017-05-18T20:19:13Z

Oops. Fixed, @jgvictores: 8cc04cd.

jgvictores · 2017-05-18T20:41:15Z

Just took an extra look because I thought our code would use this a lot, but I see that in the vast majority we just #include <yarp/dev/all.h>. I'm a fan of including only what is used, so for me it's okay to keep the yarp/dev/IEncoders.h only if it's the only header required (rather than just migrating to yarp/dev/all.h).
Would __YARP_VERSION_N break with a potential YARP 2.3.100 or similar?

PeterBowman · 2017-05-18T20:47:37Z

Ad 2: no, 2.3.100 would translate into __YARP_VERSION_N == 231000 thanks to the arithmetics performed at lines L12-L14.

jgvictores · 2017-05-18T21:14:14Z

Re: Ad 2: Haha, let's try a different example: 2.10.0 and 3.0.0.

PeterBowman · 2017-05-18T21:26:13Z

Yeah, I know that, but this hack is not meant to last forever, certainly less than it would take to reach YARP x.10.x. Taking another look at the code, I should have shifted all version parts but the tweak number by one digit to the left. That is, 2.3.67.10 (I don't know if such version exists) is computed as 230680 with this algorithm, thus overlapping 2.3.68.

jgvictores · 2017-05-18T21:28:24Z

this hack is not meant to last forever, certainly less than it would take to reach YARP x.10.x

👍

jgvictores · 2017-05-25T14:52:04Z

Merged fix into develop at 7b5d67b.

Users should have already upgraded to 2.3.68.1 if still stuck with YARP pre-2.3.70.

PeterBowman · 2018-01-17T15:14:10Z

I'm going to remove the hack in 18e5f5b. I think it's reasonable enough to assume that everyone using the YARP 2.3.68 release have already caught up with the tweak version 2.3.68.1 (these are often non-breaking, security updates, so don't hesitate and upgrade now).

For the record, the patch looked like this:

kinematics-dynamics/programs/transCoordsUsingJoints/PremultPorts.hpp

Lines 12 to 22 in 55fe798

    
           #include <yarp/conf/version.h> 
        
           #define __YARP_VERSION_N (YARP_VERSION_MAJOR * 100000 \ 
        
                                     + YARP_VERSION_MINOR * 10000 \ 
        
                                     + YARP_VERSION_PATCH * 10) 
        
           #if (YARP_VERSION_TWEAK + 0)  // may be empty 
        
           #define __YARP_VERSION_N (__YARP_VERSION_N + YARP_VERSION_TWEAK) 
        
           #endif 
        
           #if __YARP_VERSION_N == 230680 || (__YARP_VERSION_N >= 230690 && __YARP_VERSION_N <= 230696) 
        
           #include <yarp/dev/api.h> 
        
           #endif 
        
           #undef __YARP_VERSION_N

jgvictores · 2018-01-17T15:16:31Z

Is it required for https://github.com/roboticslab-uc3m/installation-guides/blob/master/install-yarp.md#install-yarp-2368-debian-6010 ?

PeterBowman · 2018-01-17T15:20:40Z

Yes... Can we assume that nobody will try to launch transCoordsUsingJoints on a Debian 6.0 with that specific YARP configuration?

jgvictores · 2018-01-17T15:25:05Z

Mmmmm IMHO, that's not a safe assumption until roboticslab-uc3m/teo-main#26 is solved...

PeterBowman · 2018-01-17T15:28:11Z

OK, I didn't know you were using TEO's on-board CPUs to perform kinematics. I'm not planning to merge this anytime soon, anyway.

jgvictores · 2018-01-17T15:30:55Z

Yes, using TEO's on-board CPUs to perform kinematics is definitely a use case.
As good news, we've unblocked roboticslab-uc3m/teo-main#26 today, so hopefully we'll have some progress on that side soon.

PeterBowman · 2018-01-25T12:54:22Z

~~@jgvictores given roboticslab-uc3m/installation-guides#24 (comment), can we merge this now to develop?~~

Never mind for now, sorry. I have new ideas and still some work to do.

PeterBowman · 2018-01-26T22:28:20Z

OK, hack removed at #137.

rsantos88 added the bug Something isn't working label May 5, 2017

rsantos88 assigned jgvictores May 5, 2017

PeterBowman added the upstream label May 5, 2017

jgvictores closed this as completed in 9091d60 May 6, 2017

jgvictores reopened this May 8, 2017

PeterBowman added a commit that referenced this issue May 18, 2017

Temporary fix to avoid #97

791b0a3

Fixed at robotology/yarp#1127.

jgvictores added a commit that referenced this issue May 25, 2017

Merge 'fix-issue97-yarp-version' into develop, #97

7b5d67b

jgvictores closed this as completed May 25, 2017

PeterBowman added a commit that referenced this issue Jan 17, 2018

Remove temporary fix applied at #97

18e5f5b

Users should have already upgraded to 2.3.68.1 if still stuck with YARP pre-2.3.70.

PeterBowman mentioned this issue Jan 26, 2018

Import premultH from asibot-main repo and merge into the transCoords app #137

Merged

jgvictores added upstream and removed upstream labels Jan 26, 2018

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[transCoordsUsingJoints] Compilation error #97

[transCoordsUsingJoints] Compilation error #97

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[transCoordsUsingJoints] Compilation error #97

[transCoordsUsingJoints] Compilation error #97

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