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fatal error: ooqp/QpGenData.h: No such file or directory #2

Closed YouShaoze closed 10 months ago

YouShaoze commented 2 years ago

/home/ww/visPlanner/src/visPlanner/src/planner/bezier_predict/include/bezier_predict/bezier_predict.h:6:10: fatal error: ooqp/QpGenData.h: No such file or directory

include <ooqp/QpGenData.h>

      ^~~~~~~~~~~~~~~~~~

compilation terminated. In file included from /home/ww/visPlanner/src/visPlanner/src/planner/bezier_predict/src/bezier_predict.cpp:1:0: /home/ww/visPlanner/src/visPlanner/src/planner/bezier_predict/include/bezier_predict/bezier_predict.h:6:10: fatal error: ooqp/QpGenData.h: No such file or directory

include <ooqp/QpGenData.h>

      ^~~~~~~~~~~~~~~~~~

compilation terminated. visPlanner/src/planner/bezier_predict/CMakeFiles/bezier_predict.dir/build.make:62: recipe for target 'visPlanner/src/planner/bezier_predict/CMakeFiles/bezier_predict.dir/src/bezier_predict.cpp.o' failed make[2]: [visPlanner/src/planner/bezier_predict/CMakeFiles/bezier_predict.dir/src/bezier_predict.cpp.o] Error 1 make[2]: Waiting for unfinished jobs.... visPlanner/src/planner/bezier_predict/CMakeFiles/bezier_predict.dir/build.make:86: recipe for target 'visPlanner/src/planner/bezier_predict/CMakeFiles/bezier_predict.dir/src/predictor.cpp.o' failed make[2]: [visPlanner/src/planner/bezier_predict/CMakeFiles/bezier_predict.dir/src/predictor.cpp.o] Error 1 CMakeFiles/Makefile2:6355: recipe for target 'visPlanner/src/planner/bezier_predict/CMakeFiles/bezier_predict.dir/all' failed make[1]: [visPlanner/src/planner/bezier_predict/CMakeFiles/bezier_predict.dir/all] Error 2 Makefile:140: recipe for target 'all' failed make: *** [all] Error 2 Invoking "make -j12 -l12" failed

请问一下所用的ooqp是哪一个版本啊

YouShaoze commented 2 years ago

我的系统环境为ubuntu18.04 ros-melodic CUDA11.4 cudnn8.4.1.50

YouShaoze commented 2 years ago

我按照网上说明安装OOQP,环境应该都配置好了,安装了BLAS和MA27,但是编译OOQP的时候出现以下错误: g++ -O -Isrc/LinearSolvers/ -Isrc/SparseLinearAlgebra/ -Isrc/Ampl/ -Isrc/Vector/ -Isrc/PetscLinearAlgebra/ -Isrc/QpBound/ -Isrc/Readers/ -Isrc/Svm/ -Isrc/QpSolvers/ -Isrc/Abstract/ -Isrc/QpGen/ -Isrc/Utilities/ -Isrc/Huber/ -Isrc/Mex/ -Isrc/QpExample/ -Isrc/CInterface/ -Isrc/DenseLinearAlgebra/ -Isrc/LinearSolvers/Ma57Solver/ -Isrc/LinearSolvers/Ma27Solver/ -DPACKAGE_NAME=\"\" -DPACKAGE_TARNAME=\"\" -DPACKAGE_VERSION=\"\" -DPACKAGE_STRING=\"\" -DPACKAGE_BUGREPORT=\"\" -DPACKAGE_URL=\"\" -DSTDC_HEADERS=1 -DHAVE_GETRUSAGE=1 -o qpbound-dense-gondzio.exe \ src/QpBound/QpBoundDenseGondzioDriver.o src/QpBound/QpBoundDenseLinsys.o src/QpBound/QpBoundDense.o ./lib/libooqpgondzio.a ./lib/libooqpbound.a ./lib/libooqpdense.a ./lib/libooqpbase.a \ /home/ww/Depend/blas/BLAS-3.10.0/libfblas.a -L/usr/lib/gcc/x86_64-linux-gnu/7 -L/usr/lib/gcc/x86_64-linux-gnu/7/../../../x86_64-linux-gnu -L/usr/lib/gcc/x86_64-linux-gnu/7/../../../../lib -L/lib/x86_64-linux-gnu -L/lib/../lib -L/usr/lib/x86_64-linux-gnu -L/usr/lib/../lib -L/usr/lib/gcc/x8664-linux-gnu/7/../../.. -lgfortran -lm -lquadmath ./lib/libooqpdense.a(DeSymPSDSolver.o): In function DeSymPSDSolver::matrixChanged()': DeSymPSDSolver.C:(.text+0x4e): undefined reference todpotrf' ./lib/libooqpdense.a(DeSymPSDSolver.o): In function DeSymPSDSolver::solve(OoqpVector&)': DeSymPSDSolver.C:(.text+0xe2): undefined reference todpotrs_' collect2: error: ld returned 1 exit status src/QpBound/MakefileTargets.inc:14: recipe for target 'qpbound-dense-gondzio.exe' failed make: *** [qpbound-dense-gondzio.exe] Error 1

X-DDDDD commented 2 years ago

大佬你好，请问怎样解决的？

wangxuexiFINR commented 1 year ago

这个代码时间比较老了，我记得我装的时候也比较麻烦基本上是缺啥装啥然后就能work了 如果OOQP实在装不上的话其实可以不用那部分代码，预测部分其实可以自己写一下的，就是基于之前观测的速度和位置信息拟合一条曲线即可