请问一下你们的eigen3用的是哪个版本？我使用3.3.7报错

[wangml71]

[ 85%] Building CXX object quadruped/CMakeFiles/quadruped.dir/src/robots/qr_robot_aliengo_sim.cpp.o In file included from /usr/include/eigen3/Eigen/Geometry:42, from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/utils/qr_se3.h:32, from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/dynamics/spatial.hpp:13, from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/dynamics/floating_base_model.hpp:22, from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/controllers/wbc/task_set/qr_task.hpp:28, from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/controllers/wbc/task_set/qr_task_body_position.hpp:28, from /home/gst/quadruped-robot/model-control/src/quadruped/src/controllers/wbc/task_set/qr_task_body_position.cpp:25: /usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:187:48: error: ISO C++ forbids declaration of ‘EIGEN_DEFAULT_COPY_CONSTRUCTOR’ with no type [-fpermissive] 187 | EIGEN_DEFAULT_COPY_CONSTRUCTOR(QuaternionBase) | ^ /usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:187:48: error: expected ‘;’ at end of member declaration 187 | EIGEN_DEFAULT_COPY_CONSTRUCTOR(QuaternionBase) | ^ | ; /usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:188:64: error: ISO C++ forbids declaration of ‘EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR’ with no type [-fpermissive] 188 | EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(QuaternionBase) | ^ /usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:188:64: error: expected ‘;’ at end of member declaration 188 | EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(QuaternionBase) | ^ | ; In file included from /usr/include/eigen3/Eigen/Geometry:42, from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/utils/qr_se3.h:32, from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/dynamics/spatial.hpp:13, from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/dynamics/floating_base_model.hpp:22, from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/controllers/wbc/qr_single_contact.hpp:28, from /home/gst/quadruped-robot/model-control/src/quadruped/src/controllers/wbc/qr_single_contact.cpp:25: /usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:187:48: error: ISO C++ forbids declaration of ‘EIGEN_DEFAULT_COPY_CONSTRUCTOR’ with no type [-fpermissive] 187 | EIGEN_DEFAULT_COPY_CONSTRUCTOR(QuaternionBase) | ^ /usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:187:48: error: expected ‘;’ at end of member declaration 187 | EIGEN_DEFAULT_COPY_CONSTRUCTOR(QuaternionBase) | ^ | ; /usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:188:64: error: ISO C++ forbids declaration of ‘EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR’ with no type [-fpermissive] 188 | EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(QuaternionBase) | ^ /usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:188:64: error: expected ‘;’ at end of member declaration 188 | EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(QuaternionBase) | ^ | ; In file included from /usr/include/eigen3/Eigen/Geometry:42, from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/utils/qr_se3.h:32, from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/dynamics/spatial.hpp:13, from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/dynamics/floating_base_model.hpp:22, from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/controllers/wbc/task_set/qr_task.hpp:28, from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/controllers/wbc/task_set/qr_task_link_position.hpp:28, from /home/gst/quadruped-robot/model-control/src/quadruped/src/controllers/wbc/task_set/qr_task_link_position.cpp:25: /usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:187:48: error: ISO C++ forbids declaration of ‘EIGEN_DEFAULT_COPY_CONSTRUCTOR’ with no type [-fpermissive] 187 | EIGEN_DEFAULT_COPY_CONSTRUCTOR(QuaternionBase) | ^ /usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:187:48: error: expected ‘;’ at end of member declaration 187 | EIGEN_DEFAULT_COPY_CONSTRUCTOR(QuaternionBase) | ^ | ; /usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:188:64: error: ISO C++ forbids declaration of ‘EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR’ with no type [-fpermissive] 188 | EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(QuaternionBase) | ^ /usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:188:64: error: expected ‘;’ at end of member declaration 188 | EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(QuaternionBase) | ^ | ; In file included from /usr/include/eigen3/Eigen/Geometry:42, from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/utils/qr_se3.h:32, from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/dynamics/spatial.hpp:13, from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/dynamics/floating_base_model.hpp:22, from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/controllers/wbc/task_set/qr_task.hpp:28, from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/controllers/wbc/task_set/qr_task_body_orientation.hpp:28, from /home/gst/quadruped-robot/model-control/src/quadruped/src/controllers/wbc/task_set/qr_task_body_orientation.cpp:25: /usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:187:48: error: ISO C++ forbids declaration of ‘EIGEN_DEFAULT_COPY_CONSTRUCTOR’ with no type [-fpermissive] 187 | EIGEN_DEFAULT_COPY_CONSTRUCTOR(QuaternionBase) | ^ /usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:187:48: error: expected ‘;’ at end of member declaration 187 | EIGEN_DEFAULT_COPY_CONSTRUCTOR(QuaternionBase) | ^ | ; /usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:188:64: error: ISO C++ forbids declaration of ‘EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR’ with no type [-fpermissive] 188 | EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(QuaternionBase) | ^ /usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:188:64: error: expected ‘;’ at end of member declaration 188 | EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(QuaternionBase) | ^ | ; In file included from /usr/include/eigen3/Eigen/Geometry:42, from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/utils/qr_se3.h:32, from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/dynamics/spatial.hpp:13, from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/dynamics/floating_base_model.hpp:22, from /home/gst/quadruped-robot/model-control/src/quadruped/src/dynamics/floating_base_model.cpp:19: /usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:187:48: error: ISO C++ forbids declaration of ‘EIGEN_DEFAULT_COPY_CONSTRUCTOR’ with no type [-fpermissive] 187 | EIGEN_DEFAULT_COPY_CONSTRUCTOR(QuaternionBase) | ^ /usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:187:48: error: expected ‘;’ at end of member declaration 187 | EIGEN_DEFAULT_COPY_CONSTRUCTOR(QuaternionBase) | ^ | ; /usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:188:64: error: ISO C++ forbids declaration of ‘EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR’ with no type [-fpermissive] 188 | EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(QuaternionBase) | ^ /usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:188:64: error: expected ‘;’ at end of member declaration 188 | EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(QuaternionBase) | ^ | ; In file included from /usr/include/eigen3/Eigen/Geometry:42, from /usr/include/eigen3/Eigen/Dense:6, from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/utils/qr_cpptypes.h:33, from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/utils/qr_algebra.h:31, from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/utils/qr_geometry.h:32, from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/controllers/qr_state_dataflow.h:31, from /home/gst/quadruped-robot/model-control/src/quadruped/src/controllers/qr_state_dataflow.cpp:25: /usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:187:48: error: ISO C++ forbids declaration of ‘EIGEN_DEFAULT_COPY_CONSTRUCTOR’ with no type [-fpermissive] 187 | EIGEN_DEFAULT_COPY_CONSTRUCTOR(QuaternionBase) | ^ /usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:187:48: error: expected ‘;’ at end of member declaration 187 | EIGEN_DEFAULT_COPY_CONSTRUCTOR(QuaternionBase) | ^ | ; /usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:188:64: error: ISO C++ forbids declaration of ‘EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR’ with no type [-fpermissive] 188 | EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(QuaternionBase) | ^ /usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:188:64: error: expected ‘;’ at end of member declaration 188 | EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(QuaternionBase) | ^ | ; [ 86%] Building CXX object quadruped/CMakeFiles/quadruped.dir/src/robots/qr_robot_sim.cpp.o make[2]: [quadruped/CMakeFiles/quadruped.dir/build.make:244：quadruped/CMakeFiles/quadruped.dir/src/controllers/wbc/qr_single_contact.cpp.o] 错误 1 make[2]: 正在等待未完成的任务.... make[2]: [quadruped/CMakeFiles/quadruped.dir/build.make:314：quadruped/CMakeFiles/quadruped.dir/src/controllers/wbc/task_set/qr_task_link_position.cpp.o] 错误 1 make[2]: [quadruped/CMakeFiles/quadruped.dir/build.make:300：quadruped/CMakeFiles/quadruped.dir/src/controllers/wbc/task_set/qr_task_body_position.cpp.o] 错误 1 make[2]: [quadruped/CMakeFiles/quadruped.dir/build.make:286：quadruped/CMakeFiles/quadruped.dir/src/controllers/wbc/task_set/qr_task_body_orientation.cpp.o] 错误 1 make[2]: [quadruped/CMakeFiles/quadruped.dir/build.make:202：quadruped/CMakeFiles/quadruped.dir/src/controllers/qr_state_dataflow.cpp.o] 错误 1 In file included from /usr/include/eigen3/Eigen/Geometry:42, from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/utils/qr_se3.h:32, from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/dynamics/spatial.hpp:13, from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/dynamics/floating_base_model.hpp:22, from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/controllers/wbc/qr_single_contact.hpp:28, from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/controllers/wbc/qr_multitask_projection.hpp:28, from /home/gst/quadruped-robot/model-control/src/quadruped/src/controllers/wbc/qr_multitask_projection.cpp:25: /usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:187:48: error: ISO C++ forbids declaration of ‘EIGEN_DEFAULT_COPY_CONSTRUCTOR’ with no type [-fpermissive] 187 | EIGEN_DEFAULT_COPY_CONSTRUCTOR(QuaternionBase) | ^ /usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:187:48: error: expected ‘;’ at end of member declaration 187 | EIGEN_DEFAULT_COPY_CONSTRUCTOR(QuaternionBase) | ^ | ; /usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:188:64: error: ISO C++ forbids declaration of ‘EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR’ with no type [-fpermissive] 188 | EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(QuaternionBase) | ^ /usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:188:64: error: expected ‘;’ at end of member declaration 188 | EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(QuaternionBase) | ^ | ; In file included from /usr/include/eigen3/Eigen/Geometry:42, from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/utils/qr_se3.h:32, from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/dynamics/spatial.hpp:13, from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/dynamics/floating_base_model.hpp:22, from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/controllers/wbc/qr_single_contact.hpp:28, from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/controllers/wbc/qr_wholebody_impulse_ctrl.hpp:31, from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/controllers/wbc/qr_wbc_locomotion_controller.hpp:28, from /home/gst/quadruped-robot/model-control/src/quadruped/src/controllers/wbc/qr_wbc_locomotion_controller.cpp:25: /usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:187:48: error: ISO C++ forbids declaration of ‘EIGEN_DEFAULT_COPY_CONSTRUCTOR’ with no type [-fpermissive] 187 | EIGEN_DEFAULT_COPY_CONSTRUCTOR(QuaternionBase) | ^ /usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:187:48: error: expected ‘;’ at end of member declaration 187 | EIGEN_DEFAULT_COPY_CONSTRUCTOR(QuaternionBase) | ^ | ; /usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:188:64: error: ISO C++ forbids declaration of ‘EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR’ with no type [-fpermissive] 188 | EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(QuaternionBase) | ^ /usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:188:64: error: expected ‘;’ at end of member declaration 188 | EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(QuaternionBase) | ^ | ; In file included from /usr/include/eigen3/Eigen/Geometry:42, from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/utils/qr_se3.h:32, from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/dynamics/spatial.hpp:13, from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/dynamics/floating_base_model.hpp:22, from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/controllers/wbc/qr_single_contact.hpp:28, from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/controllers/wbc/qr_wholebody_impulse_ctrl.hpp:31, from /home/gst/quadruped-robot/model-control/src/quadruped/src/controllers/wbc/qr_wholebody_impulse_ctrl.cpp:25: /usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:187:48: error: ISO C++ forbids declaration of ‘EIGEN_DEFAULT_COPY_CONSTRUCTOR’ with no type [-fpermissive] 187 | EIGEN_DEFAULT_COPY_CONSTRUCTOR(QuaternionBase) | ^ /usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:187:48: error: expected ‘;’ at end of member declaration 187 | EIGEN_DEFAULT_COPY_CONSTRUCTOR(QuaternionBase) | ^ | ; /usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:188:64: error: ISO C++ forbids declaration of ‘EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR’ with no type [-fpermissive] 188 | EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(QuaternionBase) | ^ /usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:188:64: error: expected ‘;’ at end of member declaration 188 | EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(QuaternionBase) | ^ | ; make[2]: [quadruped/CMakeFiles/quadruped.dir/build.make:258：quadruped/CMakeFiles/quadruped.dir/src/controllers/wbc/qr_wbc_locomotion_controller.cpp.o] 错误 1 /home/gst/quadruped-robot/model-control/src/quadruped/src/fsm/qr_fsm_state_locomotion.cpp: In member function ‘virtual void qrFSMStateLocomotion::Run()’: /home/gst/quadruped-robot/model-control/src/quadruped/src/fsm/qr_fsm_state_locomotion.cpp:136:10: warning: structured bindings only available with ‘-std=c++17’ or ‘-std=gnu++17’ 136 | auto [hybridAction, qpSol] = locomotionController->GetAction(); | ^ /home/gst/quadruped-robot/model-control/src/quadruped/src/fsm/qr_fsm_state_locomotion.cpp: In member function ‘bool qrFSMStateLocomotion::SwitchMode()’: /home/gst/quadruped-robot/model-control/src/quadruped/src/fsm/qr_fsm_state_locomotion.cpp:294:14: warning: structured bindings only available with ‘-std=c++17’ or ‘-std=gnu++17’ 294 | auto [hybridAction, qpSol] = locomotionController->GetAction(); | ^ /home/gst/quadruped-robot/model-control/src/quadruped/src/fsm/qr_fsm_state_locomotion.cpp: In member function ‘bool qrFSMStateLocomotion::StandLoop()’: /home/gst/quadruped-robot/model-control/src/quadruped/src/fsm/qr_fsm_state_locomotion.cpp:333:14: warning: structured bindings only available with ‘-std=c++17’ or ‘-std=gnu++17’ 333 | auto [hybridAction, qpSol] = locomotionController->GetAction(); | ^ make[2]: [quadruped/CMakeFiles/quadruped.dir/build.make:230：quadruped/CMakeFiles/quadruped.dir/src/controllers/wbc/qr_multitask_projection.cpp.o] 错误 1 make[2]: [quadruped/CMakeFiles/quadruped.dir/build.make:272：quadruped/CMakeFiles/quadruped.dir/src/controllers/wbc/qr_wholebody_impulse_ctrl.cpp.o] 错误 1 make[2]: [quadruped/CMakeFiles/quadruped.dir/build.make:328：quadruped/CMakeFiles/quadruped.dir/src/dynamics/floating_base_model.cpp.o] 错误 1 make[1]: [CMakeFiles/Makefile2:2868：quadruped/CMakeFiles/quadruped.dir/all] 错误 2 make: [Makefile:146：all] 错误 2 Invoking "make -j28 -l28" failed