Quaterniond问题

[Fancy-a-good-name]

您好，在复现您的代码的时候，运行时会报teb/include/pose_se2.h:71:14: error: ‘Quaterniond’ is not a member of ‘Eigen’; did you mean ‘Quaternion’?这个错误，想请教一下您的看法

[Fancy-a-good-name]

/**

• @brief Construct pose using a geometry_msgs::Pose

• @param pose geometry_msgs::Pose object */ PoseSE2(const Pose& pose) { _position.coeffRef(0) = pose.position.x; _position.coeffRef(1) = pose.position.y; Eigen::Quaterniond q{pose.orientation.w,pose.orientation.x,pose.orientation.y,pose.orientation.z}; Eigen::Vector3d eulerAngle = q.matrix().eulerAngles(2,1,0); _theta = eulerAngle[0];

  }

  /**

[linyicheng1]

1. 首先检查 Eigen 库是否装好
2. 查一下装的Eigen 库版本，官网查一下是不是其他版本对 Quaterniond 的定义有变化，如果有变化可以改成你的版本写法
3. Quaterniond 数据类型确实是Eigen的内置数据类型，可以自己写一个小程序验证一下Eigen的功能 参考 https://blog.csdn.net/hjwang1/article/details/106752766

[Fancy-a-good-name]

好的，我去试一试，另外还有一个问题，我在进行cmake编译的过程中，能够正常编译，但是链接的过程中出现undefined reference的错误，您之前遇到过吗？

• Found Boost: /usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake (found version "1.71.0") found components: system thread graph -- Configuring done -- Generating done -- Build files have been written to: /home/cowa/planning/teb/build cowa@cowa-NUC11PAHi5:~/planning/teb/build$ make [ 12%] Building CXX object CMakeFiles/lib_teb.dir/src/teb_config.cpp.o [ 25%] Building CXX object CMakeFiles/lib_teb.dir/src/obstacles.cpp.o [ 37%] Building CXX object CMakeFiles/lib_teb.dir/src/visualization.cpp.o [ 50%] Building CXX object CMakeFiles/lib_teb.dir/src/optimal_planner.cpp.o [ 62%] Building CXX object CMakeFiles/lib_teb.dir/src/timed_elastic_band.cpp.o [ 75%] Linking CXX static library liblib_teb.a [ 75%] Built target lib_teb [ 87%] Building CXX object CMakeFiles/teb.dir/teb_main.cpp.o [100%] Linking CXX executable teb /usr/bin/ld: liblib_teb.a(optimal_planner.cpp.o): undefined reference to symbol 'cs_di_sfree' /usr/bin/ld: /lib/x86_64-linux-gnu/libcxsparse.so.3: error adding symbols: DSO missing from command line collect2: error: ld returned 1 exit status make[2]: [CMakeFiles/teb.dir/build.make:98：teb] 错误 1 make[1]: [CMakeFiles/Makefile2:111：CMakeFiles/teb.dir/all] 错误 2 make: *** [Makefile:91：all] 错误 2 cowa@cowa-NUC11PAHi5:~/planning/teb/build$

[linyicheng1]

所有的环境配置都是在修改或者添加程序所需要的头文件和库文件。这个问题明显就是库文件没有找到

1. 全局搜索这个库是不是在系统内安装了
2. 如果安装了，在cmake中包含该库的路径

[Fancy-a-good-name]

ok，我试试，另外有没有可能是g2o和eigen的版本不兼容的问题呢

[KunZhou0105]

eigen3.3.4的话需要包含#include <Eigen/Dense>