The problem encountered when using a class template with Ruckig.

[Sunfury2333]

When I define it this way, it gives an error. Why is that?

namespace trajectory {

template <size_t mdof>
class velprofile_ruckig
{
private:
    ruckig::InputParameter<mdof> input;
    ruckig::Ruckig<mdof> otg;
    ruckig::Trajectory<mdof> ruckig_traj;
}

This is the compiler error message

include/ruckig/calculator_target.hpp:260: undefined reference to `ruckig::BrakeProfile::get_velocity_brake_trajectory(double, double, double, double)'
include/ruckig/calculator_target.hpp:273: undefined reference to `ruckig::PositionStep1::PositionStep1(double, double, double, double, double, double, double, double, double, double, double)'
include/ruckig/calculator_target.hpp:274: undefined reference to `ruckig::PositionStep1::get_profile(ruckig::Profile const&, ruckig::Block&)'
include/ruckig/calculator_target.hpp:277: undefined reference to `ruckig::VelocityStep1::VelocityStep1(double, double, double, double, double, double, double)'
include/ruckig/calculator_target.hpp:278: undefined reference to `ruckig::VelocityStep1::get_profile(ruckig::Profile const&, ruckig::Block&)'
include/ruckig/calculator_target.hpp:420: undefined reference to `ruckig::PositionStep2::PositionStep2(double, double, double, double, double, double, double, double, double, double, double, double)'
include/ruckig/calculator_target.hpp:421: undefined reference to `ruckig::PositionStep2::get_profile(ruckig::Profile&)'
include/ruckig/calculator_target.hpp:424: undefined reference to `ruckig::VelocityStep2::VelocityStep2(double, double, double, double, double, double, double, double)'
include/ruckig/calculator_target.hpp:425: undefined reference to `ruckig::VelocityStep2::get_profile(ruckig::Profile&)'

[pantor]

Are you sure that you are linking Ruckig when compiling your example, and that the library can be found?

[Sunfury2333]

Yes, I am sure. When I initialized it with const int mdof = 6, there is no problem. But when I modify it as described above, it throws the error.

[pantor]

Can you provide a minimal example to reproduce this?

Note that all the examples, in particular https://github.com/pantor/ruckig/blob/master/examples/09_dynamic_dofs.cpp, compile just fine in CI.

[Sunfury2333]

Thank you very much for your response. I believe I have identified the issue now. I apologize for bothering you and thank you for your time.