Issue when compiling

[WangYixuan12]

When I tried to compile it in catkin. It reports the following error.

/home/deformtrack/catkin_ws/src/smmap_utilities/src/grippers.cpp:95:72: error: could not convert ‘EigenHelpers::EigenVectorXToVectorEigenVector(const VectorXd&) [with T = double; int LENGTH = 6; Eigen::VectorXd = Eigen::Matrix<double, -1, 1>]()’ from ‘std::vector<Eigen::Matrix<double, 6, 1>, Eigen::aligned_allocator<Eigen::Matrix<double, 6, 1> > >’ to ‘smmap::AllGrippersSinglePoseDelta {aka std::vector<Eigen::Matrix<double, 6, 1> >}’
         return EigenHelpers::EigenVectorXToVectorEigenVector<double, 6>(gripper_motion);
                ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/home/deformtrack/catkin_ws/src/smmap_utilities/src/grippers.cpp: In function ‘double smmap::GripperVelocityDotProduct(const Vector6d&, const Vector6d&)’:
/home/deformtrack/catkin_ws/src/smmap_utilities/src/grippers.cpp:129:25: note: #pragma message: SE(3) velocity weight hard coded here
         #pragma message "SE(3) velocity weight hard coded here"
                         ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/deformtrack/catkin_ws/src/smmap_utilities/src/grippers.cpp: In function ‘smmap::AllGrippersPoseTrajectory smmap::CalculateGrippersTrajectory(const AllGrippersSinglePose&, const AllGrippersPoseDeltaTrajectory&)’:
/home/deformtrack/catkin_ws/src/smmap_utilities/src/grippers.cpp:261:37: error: ‘expTwistIsometry3d’ is not a member of ‘kinematics’
                         kinematics::expTwistIsometry3d(grippers_pose_deltas[time_ind][gripper_ind], 1);
                                     ^~~~~~~~~~~~~~~~~~
/home/deformtrack/catkin_ws/src/smmap_utilities/src/grippers.cpp:261:37: note: suggested alternative: ‘expTwistAffine3d’
                         kinematics::expTwistIsometry3d(grippers_pose_deltas[time_ind][gripper_ind], 1);
                                     ^~~~~~~~~~~~~~~~~~
                                     expTwistAffine3d
/home/deformtrack/catkin_ws/src/smmap_utilities/src/grippers.cpp: In function ‘smmap::AllGrippersPoseTrajectory smmap::CalculateGrippersTrajectory(const AllGrippersSinglePose&, const VectorXd&)’:
/home/deformtrack/catkin_ws/src/smmap_utilities/src/grippers.cpp:292:37: error: ‘expTwistIsometry3d’ is not a member of ‘kinematics’
                         kinematics::expTwistIsometry3d(gripper_delta, 1);
                                     ^~~~~~~~~~~~~~~~~~
/home/deformtrack/catkin_ws/src/smmap_utilities/src/grippers.cpp:292:37: note: suggested alternative: ‘expTwistAffine3d’
                         kinematics::expTwistIsometry3d(gripper_delta, 1);
                                     ^~~~~~~~~~~~~~~~~~
                                     expTwistAffine3d````

In summary, there are two problems: return type mismatching in `gripper.cpp:95:72` and non-existing member of kinematics `expTwistIsometry3d` in `gripper.cpp:261:37` and `gripper.cpp:292:37`.

[dmcconachie]

What branches of kinematics_toolbox, arc_utilities, and sdf_tools are you on? Are your CLion/Sublime things getting in the way? I.e.; have you tried cleaning your build environment and building from scratch?

Localname                         S SCM Version (Spec)       UID  (Spec)  URI  (Spec) [http(s)://...]
---------                         - --- --------------       -----------  ---------------------------
smmap_utilities                     git master  (-)          e894fd47fda9 git@github.com:UM-ARM-Lab/smmap_utilities.git
sdf_tools                           git melodic  (-)         4b7a0ab808d0 git@github.com:UM-ARM-Lab/sdf_tools.git
kinematics_toolbox                  git master  (-)          b5eb6b17a814 git@github.com:UM-ARM-Lab/kinematics_toolbox.git
deformable_manipulation_interface   git master  (-)          11d458b4607e git@github.com:UM-ARM-Lab/deformable_manipulation_interface.git
arc_utilities                       git no_tests  (-)        5292c2750f24 git@github.com:UM-ARM-Lab/arc_utilities.git 

I have no problems compiling on 18.04 with these repos in my workspace.

[WangYixuan12]

Oh sorry. I think I git clone wrong repo. I clone kinemetics_toolbox from mab_ms. But the weird thing is that I cannot find kinematics_toolbox by searching in the organization. But I successfully git clone from https://github.com/UM-ARM-Lab/kinematics_toolbox.git.

[bsaund]

For what it's worth, I see see kinematics_toolbox when searching

[WangYixuan12]

Oh I just searched at wrong place, which excludes the repo forked lol.