the simplusplus/lib.cpp have so many error

[criseyanginvaild]

(base) crise@crise:~/simExtOMPL/build$ cmake --build . [ 6%] Performing configure step for 'ompl-1.5.1' -- Build type: Release -- Checking for module 'libspot' -- No package 'libspot' found -- Could NOT find spot (missing: SPOT_LIBRARIES SPOT_INCLUDE_DIRS) -- Could NOT find Doxygen (missing: DOXYGEN_EXECUTABLE) -- Could NOT find PY_pyplusplus (missing: PY_PYPLUSPLUS) -- Could NOT find PY_pygccxml (missing: PY_PYGCCXML) -- The following features have been enabled:

• OMPL_VERSIONED_INSTALL, Whether to install header files in /include/ompl-X.Y/ompl, where X and Y are the major and minor version numbers

-- The following OPTIONAL packages have been found:

• Threads, https://en.wikipedia.org/wiki/POSIX_Threads Pthreads is sometimes needed, depending on OS / compiler.
• pypy, https://pypy.org Used to speed up the generation of python bindings.
• ODE, http://ode.org The Open Dynamics Engine can be used as a "black box" for kinodynamic planning.
• flann (required version >= 1.8.3), https://github.com/mariusmuja/flann If detetected, FLANN can be used for nearest neighbor queries by OMPL.
• PkgConfig, https://www.freedesktop.org/wiki/Software/pkg-config/ Used to find (compilation flags for) dependencies.
• Python, https://www.python.org Used for python bindings.
• castxml, https://github.com/CastXML/CastXML Used to generate Python bindings.

-- The following REQUIRED packages have been found:

• Eigen3, http://eigen.tuxfamily.org A linear algebra library used throughout OMPL.
• Boost (required version >= 1.58), https://www.boost.org Used throughout OMPL for data serialization, graphs, etc.

-- The following features have been disabled:

• OMPL_BUILD_PYBINDINGS, Whether to build the Python bindings.
• OMPL_BUILD_PYTESTS, Whether to build/run the python binding unit tests.
• OMPL_BUILD_TESTS, Whether to build the unit tests.
• OMPL_BUILD_DEMOS, Whether to build the OMPL demo programs.

-- The following OPTIONAL packages have not been found:

• MORSE, https://www.openrobots.org/wiki/morse OMPL includes a plugin for the MORSE Robot Simulation engine.
• Triangle, http://www.cs.cmu.edu/~quake/triangle.html Used to create triangular decompositions of polygonal 2D environments.
• spot, http://spot.lrde.epita.fr Used for constructing finite automata from LTL formulae.
• Doxygen, http://doxygen.org Used to create the OMPL documentation (i.e., https://ompl.kavrakilab.org).

-- The following Python modules were found:

• numpy

-- The following Python modules were NOT found:

• pyplusplus pygccxml

-- Configuring done -- Generating done -- Build files have been written to: /home/crise/simExtOMPL/build/ompl-1.5.1-prefix/src/ompl-1.5.1-build [ 13%] Performing build step for 'ompl-1.5.1' [ 0%] Building CXX object src/ompl/CMakeFiles/ompl.dir/base/goals/src/GoalLazySamples.cpp.o [ 1%] Building CXX object src/ompl/CMakeFiles/ompl.dir/base/goals/src/GoalRegion.cpp.o [ 1%] Building CXX object src/ompl/CMakeFiles/ompl.dir/base/goals/src/GoalSpace.cpp.o [ 2%] Building CXX object src/ompl/CMakeFiles/ompl.dir/base/goals/src/GoalState.cpp.o [ 2%] Building CXX object src/ompl/CMakeFiles/ompl.dir/base/goals/src/GoalStates.cpp.o [ 3%] Building CXX object src/ompl/CMakeFiles/ompl.dir/base/objectives/src/MaximizeMinClearanceObjective.cpp.o [ 3%] Building CXX object src/ompl/CMakeFiles/ompl.dir/base/objectives/src/MechanicalWorkOptimizationObjective.cpp.o [ 4%] Building CXX object src/ompl/CMakeFiles/ompl.dir/base/objectives/src/MinimaxObjective.cpp.o [ 5%] Building CXX object 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src/ompl/CMakeFiles/ompl.dir/extensions/ode/src/OpenDEStateSpace.cpp.o [ 99%] Building CXX object src/ompl/CMakeFiles/ompl.dir/extensions/ode/src/OpenDEStateValidityChecker.cpp.o [100%] Linking CXX shared library ../../lib/libompl.so [100%] Built target ompl [ 20%] No install step for 'ompl-1.5.1' [ 26%] Completed 'ompl-1.5.1' [ 53%] Built target ompl-1.5.1 [ 60%] Generating generated/stubs.cpp, generated/stubs.h, generated/plugin.h, generated/stubsPlusPlus.cpp, generated/index.json, generated/reference.html, generated/lua_calltips.cpp, generated/simOMPL-typecheck.lua /home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simStubsGen/generate.py --verbose --xml-file /home/crise/simExtOMPL/callbacks.xml --gen-all /home/crise/simExtOMPL/build/generated --lua-file /home/crise/simExtOMPL/simOMPL.lua /home/crise/anaconda3/bin/python3.9 /home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simStubsGen/generate_lua_xml.py /home/crise/simExtOMPL/callbacks.xml /home/crise/simExtOMPL/simOMPL.lua /home/crise/simExtOMPL/build/generated/lua.xml /home/crise/anaconda3/bin/python3.9 /home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simStubsGen/merge_xml.py /home/crise/simExtOMPL/callbacks.xml /home/crise/simExtOMPL/build/generated/lua.xml /home/crise/simExtOMPL/build/generated/reference.xml xsltproc -o /home/crise/simExtOMPL/build/generated/reference.html /home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simStubsGen/xsl/reference.xsl /home/crise/simExtOMPL/build/generated/reference.xml /home/crise/anaconda3/bin/python3.9 /home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simStubsGen/generate_lua_calltips.py /home/crise/simExtOMPL/build/generated/lua.xml /home/crise/simExtOMPL/build/generated/lua_calltips.cpp /home/crise/anaconda3/bin/python3.9 /home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simStubsGen/generate_lua_typechecker.py /home/crise/simExtOMPL/simOMPL.lua /home/crise/simExtOMPL/build/generated/lua.xml /home/crise/simExtOMPL/build/generated/simOMPL-typecheck.lua /home/crise/anaconda3/bin/python3.9 /home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simStubsGen/generate_api_index.py /home/crise/simExtOMPL/build/generated/reference.xml /home/crise/simExtOMPL/build/generated/index.json /home/crise/anaconda3/bin/python3.9 /home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simStubsGen/external/pycpp/pycpp.py -p xml_file=/home/crise/simExtOMPL/callbacks.xml -p have_lua_calltips=True -P /home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simStubsGen -p lua_require=simOMPL-typecheck -i /home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simStubsGen/cpp/stubs.cpp -o /home/crise/simExtOMPL/build/generated/stubs.cpp /home/crise/anaconda3/bin/python3.9 /home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simStubsGen/external/pycpp/pycpp.py -p xml_file=/home/crise/simExtOMPL/callbacks.xml -p have_lua_calltips=True -P /home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simStubsGen -p lua_require=simOMPL-typecheck -i /home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simStubsGen/cpp/stubs.h -o /home/crise/simExtOMPL/build/generated/stubs.h /home/crise/anaconda3/bin/python3.9 /home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simStubsGen/external/pycpp/pycpp.py -p xml_file=/home/crise/simExtOMPL/callbacks.xml -p have_lua_calltips=True -P /home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simStubsGen -p lua_require=simOMPL-typecheck -i /home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simStubsGen/cpp/plugin.h -o /home/crise/simExtOMPL/build/generated/plugin.h /home/crise/anaconda3/bin/python3.9 /home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simStubsGen/external/pycpp/pycpp.py -p xml_file=/home/crise/simExtOMPL/callbacks.xml -p have_lua_calltips=True -P /home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simStubsGen -p lua_require=simOMPL-typecheck -i /home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simStubsGen/cpp/stubsPlusPlus.cpp -o /home/crise/simExtOMPL/build/generated/stubsPlusPlus.cpp [ 66%] Building CXX object CMakeFiles/simExtOMPL.dir/home/crise/CoppeliaSim_Edu_V4_4_0/programming/common/simLib.cpp.o [ 73%] Building CXX object CMakeFiles/simExtOMPL.dir/generated/stubs.cpp.o [ 80%] Building CXX object CMakeFiles/simExtOMPL.dir/home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simPlusPlus/Lib.cpp.o /home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simPlusPlus/Lib.cpp: In function ‘int sim::getStackBoolValue(int, bool)’: /home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simPlusPlus/Lib.cpp:281:49: error: cannot convert ‘bool’ to ‘simBool’ {aka ‘unsigned char’} in argument passing 281	int ret = simGetStackBoolValue(stackHandle, boolValue);	^~~~~
bool*

/home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simPlusPlus/Lib.cpp: In function ‘double sim::getFloatParam(int)’: /home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simPlusPlus/Lib.cpp:584:36: error: cannot convert ‘double’ to ‘simFloat’ {aka ‘float*’} in argument passing 584	if(simGetFloatParam(parameter, &ret) == -1)	^~~~
double*

/home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simPlusPlus/Lib.cpp: In function ‘double sim::getObjectFloatParam(int, int, double)’: /home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simPlusPlus/Lib.cpp:646:58: error: cannot convert ‘double’ to ‘simFloat’ {aka ‘float’} in argument passing 646	if(simGetObjectFloatParam(objectHandle, parameterID, &ret) == -1)	^~~~
double*

/home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simPlusPlus/Lib.cpp: In function ‘void sim::releaseBuffer(void)’: /home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simPlusPlus/Lib.cpp:730:25: error: invalid conversion from ‘void’ to ‘const simChar’ {aka ‘const char’} [-fpermissive] 730	if(simReleaseBuffer(buffer) == -1)	^~
void*

/home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simPlusPlus/Lib.cpp: In function ‘std::array<double, 12> sim::getObjectMatrix(int, int)’: /home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simPlusPlus/Lib.cpp:771:73: error: cannot convert ‘std::array<double, 12>::pointer’ {aka ‘double’} to ‘simFloat’ {aka ‘float*’} in argument passing 771	if(simGetObjectMatrix(objectHandle, relativeToObjectHandle, ret.data()) == -1)	~~~~^~
std::array<double, 12>::pointer {aka double*}

/home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simPlusPlus/Lib.cpp: In function ‘void sim::setObjectMatrix(int, int, const std::array<double, 12>&)’: /home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simPlusPlus/Lib.cpp:778:76: error: cannot convert ‘std::array<double, 12>::const_pointer’ {aka ‘const double’} to ‘const simFloat’ {aka ‘const float*’} in argument passing 778	if(simSetObjectMatrix(objectHandle, relativeToObjectHandle, matrix.data()) == -1)	~~~^~
std::array<double, 12>::const_pointer {aka const double*}

/home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simPlusPlus/Lib.cpp: In function ‘std::array<double, 3> sim::getObjectOrientation(int, int)’: /home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simPlusPlus/Lib.cpp:803:78: error: cannot convert ‘std::array<double, 3>::pointer’ {aka ‘double’} to ‘simFloat’ {aka ‘float*’} in argument passing 803	if(simGetObjectOrientation(objectHandle, relativeToObjectHandle, ret.data()) == -1)	~~~~^~
std::array<double, 3>::pointer {aka double*}

/home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simPlusPlus/Lib.cpp: In function ‘void sim::setObjectOrientation(int, int, const std::array<double, 3>&)’: /home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simPlusPlus/Lib.cpp:810:86: error: cannot convert ‘std::array<double, 3>::const_pointer’ {aka ‘const double’} to ‘const simFloat’ {aka ‘const float*’} in argument passing 810	if(simSetObjectOrientation(objectHandle, relativeToObjectHandle, eulerAngles.data()) == -1)	~~~~^~
std::array<double, 3>::const_pointer {aka const double*}

/home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simPlusPlus/Lib.cpp: In function ‘std::array<double, 3> sim::getObjectPosition(int, int)’: /home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simPlusPlus/Lib.cpp:831:75: error: cannot convert ‘std::array<double, 3>::pointer’ {aka ‘double’} to ‘simFloat’ {aka ‘float*’} in argument passing 831	if(simGetObjectPosition(objectHandle, relativeToObjectHandle, ret.data()) == -1)	~~~~^~
std::array<double, 3>::pointer {aka double*}

/home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simPlusPlus/Lib.cpp: In function ‘void sim::setObjectPosition(int, int, const std::array<double, 3>&)’: /home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simPlusPlus/Lib.cpp:838:80: error: cannot convert ‘std::array<double, 3>::const_pointer’ {aka ‘const double’} to ‘const simFloat’ {aka ‘const float*’} in argument passing 838	if(simSetObjectPosition(objectHandle, relativeToObjectHandle, position.data()) == -1)	~~~~~^~
std::array<double, 3>::const_pointer {aka const double*}

/home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simPlusPlus/Lib.cpp: In function ‘std::array<double, 4> sim::getObjectQuaternion(int, int)’: /home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simPlusPlus/Lib.cpp:845:77: error: cannot convert ‘std::array<double, 4>::pointer’ {aka ‘double’} to ‘simFloat’ {aka ‘float*’} in argument passing 845	if(simGetObjectQuaternion(objectHandle, relativeToObjectHandle, ret.data()) == -1)	~~~~^~
std::array<double, 4>::pointer {aka double*}

/home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simPlusPlus/Lib.cpp: In function ‘void sim::setObjectQuaternion(int, int, const std::array<double, 4>&)’: /home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simPlusPlus/Lib.cpp:852:84: error: cannot convert ‘std::array<double, 4>::const_pointer’ {aka ‘const double’} to ‘const simFloat’ {aka ‘const float*’} in argument passing 852	if(simSetObjectQuaternion(objectHandle, relativeToObjectHandle, quaternion.data()) == -1)	~~~^~
std::array<double, 4>::const_pointer {aka const double*}

/home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simPlusPlus/Lib.cpp: In function ‘std::pair<std::array<double, 3>, std::array<double, 3> > sim::getObjectVelocity(int)’: /home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simPlusPlus/Lib.cpp:875:51: error: cannot convert ‘std::array<double, 3>::pointer’ {aka ‘double’} to ‘simFloat’ {aka ‘float*’} in argument passing 875	if(simGetObjectVelocity(objectHandle, lin.data(), ang.data()) == -1)	~~~~^~
std::array<double, 3>::pointer {aka double*}

/home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simPlusPlus/Lib.cpp: In function ‘std::vector sim::getObjectSel()’: /home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simPlusPlus/Lib.cpp:909:22: error: cannot convert ‘int’ to ‘const simChar’ {aka ‘const char*’} in argument passing 909	simReleaseBuffer(returnedBuff);	^~~~
int*

make[2]: [CMakeFiles/simExtOMPL.dir/build.make:151: CMakeFiles/simExtOMPL.dir/home/crise/CoppeliaSim_Edu_V4_4_0/programming/libPlugin/simPlusPlus/Lib.cpp.o] Error 1 make[1]: [CMakeFiles/Makefile2:111: CMakeFiles/simExtOMPL.dir/all] Error 2 make: *** [Makefile:136: all] Error 2

by the way , happy new year! :D

[fferri]

You can't mix versions (e.g. git latest and 4.4.0 release) of coppeliaSim, plugins and other modules such as include, common or libPlugin.

Plugins have a git branch for every coppeliaSim release. Use that branch matching your coppeliaSim release instead.