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machines-in-motion / biconvex_mpc

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Build error with latest Crocoddyl #5

Open rihat99 opened 1 year ago

rihat99 commented 1 year ago

Latest version of Crocoddyl (2.0.1) is not compatible with Biconovex_mpc. Some headers files changed their location. While building following errors are occurred:

/workspace/biconvex_mpc/include/ik/inverse_kinematics.hpp:25:10: fatal error: crocoddyl/multibody/costs/state.hpp: No such file or directory
   25 | #include "crocoddyl/multibody/costs/state.hpp"
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/biconvex_mpc.dir/build.make:146: CMakeFiles/biconvex_mpc.dir/src/ik/inverse_kinematics.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
In file included from /workspace/biconvex_mpc/src/ik/com_tasks.cpp:3:
/workspace/biconvex_mpc/include/ik/inverse_kinematics.hpp:25:10: fatal error: crocoddyl/multibody/costs/state.hpp: No such file or directory
   25 | #include "crocoddyl/multibody/costs/state.hpp"
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/biconvex_mpc.dir/build.make:188: CMakeFiles/biconvex_mpc.dir/src/ik/com_tasks.cpp.o] Error 1
In file included from /workspace/biconvex_mpc/include/motion_planner/kino_dyn.hpp:7,
                 from /workspace/biconvex_mpc/src/motion_planner/kino_dyn.cpp:1:
/workspace/biconvex_mpc/include/ik/inverse_kinematics.hpp:25:10: fatal error: crocoddyl/multibody/costs/state.hpp: No such file or directory
   25 | #include "crocoddyl/multibody/costs/state.hpp"
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/biconvex_mpc.dir/build.make:216: CMakeFiles/biconvex_mpc.dir/src/motion_planner/kino_dyn.cpp.o] Error 1
In file included from /workspace/biconvex_mpc/src/ik/end_effector_tasks.cpp:3:
/workspace/biconvex_mpc/include/ik/inverse_kinematics.hpp:25:10: fatal error: crocoddyl/multibody/costs/state.hpp: No such file or directory
   25 | #include "crocoddyl/multibody/costs/state.hpp"
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/biconvex_mpc.dir/build.make:174: CMakeFiles/biconvex_mpc.dir/src/ik/end_effector_tasks.cpp.o] Error 1
In file included from /workspace/biconvex_mpc/src/ik/regularization_costs.cpp:3:
/workspace/biconvex_mpc/include/ik/inverse_kinematics.hpp:25:10: fatal error: crocoddyl/multibody/costs/state.hpp: No such file or directory
   25 | #include "crocoddyl/multibody/costs/state.hpp"
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/biconvex_mpc.dir/build.make:202: CMakeFiles/biconvex_mpc.dir/src/ik/regularization_costs.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:106: CMakeFiles/biconvex_mpc.dir/all] Error 2
make: *** [Makefile:136: all] Error 2

In https://github.com/loco-3d/crocoddyl/tree/master/include/crocoddyl/multibody costs was changed to residuals.

There others errors arise besides directory issues.

MorePanda123 commented 7 months ago

I have met the same problem. So I change the version of crocoddyl into 1.9.0r1. Then it works.