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robotology / osqp-eigen

Simple Eigen-C++ wrapper for OSQP library
https://robotology.github.io/osqp-eigen/
BSD 3-Clause "New" or "Revised" License
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Compilation error:‘csc’ has not been declared #135

Closed ubgaokk closed 1 year ago

ubgaokk commented 1 year ago

When I compiled osqp-eigen after installing osqp and Eigen3, I encounter the following error: By the way, I have tried two machine with ubuntu 20.04. Both of them has the same error as follows.

~/Downloads/osqp-eigen/build$ make
Scanning dependencies of target OsqpEigen
[ 20%] Building CXX object CMakeFiles/OsqpEigen.dir/src/Data.cpp.o
In file included from /home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.hpp:18:0,
                 from /home/kanke/Downloads/osqp-eigen/src/Data.cpp:12:
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.hpp:42:37: error: ‘csc’ has not been declared
                                     csc*& osqpSparseMatrix);
                                     ^~~
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.hpp:51:56: error: ‘csc’ does not name a type; did you mean ‘cosl’?
         bool osqpSparseMatrixToEigenSparseMatrix(const csc* const & osqpSparseMatrix,
                                                        ^~~
                                                        cosl
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.hpp:61:47: error: ‘csc’ does not name a type; did you mean ‘cosl’?
         bool osqpSparseMatrixToTriplets(const csc* const & osqpSparseMatrix,
                                               ^~~
                                               cosl
In file included from /home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.hpp:76:0,
                 from /home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.hpp:18,
                 from /home/kanke/Downloads/osqp-eigen/src/Data.cpp:12:
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:12:62: error: ‘csc’ has not been declared
                                                              csc*& osqpSparseMatrix)
                                                              ^~~
In file included from /home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.hpp:76:0,
                 from /home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.hpp:18,
                 from /home/kanke/Downloads/osqp-eigen/src/Data.cpp:12:
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp: In function ‘bool OsqpEigen::SparseMatrixHelper::createOsqpSparseMatrix(const Eigen::SparseCompressedBase<Derived>&, int*&)’:
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:18:5: error: ‘c_int’ was not declared in this scope
     c_int rows = colMajorCopy.rows();
     ^~~~~
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:18:5: note: suggested alternative: ‘u_int’
     c_int rows = colMajorCopy.rows();
     ^~~~~
     u_int
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:19:11: error: expected ‘;’ before ‘cols’
     c_int cols = colMajorCopy.cols();
           ^~~~
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:20:11: error: expected ‘;’ before ‘numberOfNonZeroCoeff’
     c_int numberOfNonZeroCoeff = colMajorCopy.nonZeros();
           ^~~~~~~~~~~~~~~~~~~~
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:34:36: error: ‘rows’ was not declared in this scope
     osqpSparseMatrix = csc_spalloc(rows, cols, numberOfNonZeroCoeff, 1, 0);
                                    ^~~~
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:34:36: note: suggested alternative: ‘powh’
     osqpSparseMatrix = csc_spalloc(rows, cols, numberOfNonZeroCoeff, 1, 0);
                                    ^~~~
                                    powh
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:34:42: error: ‘cols’ was not declared in this scope
     osqpSparseMatrix = csc_spalloc(rows, cols, numberOfNonZeroCoeff, 1, 0);
                                          ^~~~
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:34:42: note: suggested alternative: ‘cos’
     osqpSparseMatrix = csc_spalloc(rows, cols, numberOfNonZeroCoeff, 1, 0);
                                          ^~~~
                                          cos
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:34:48: error: ‘numberOfNonZeroCoeff’ was not declared in this scope
     osqpSparseMatrix = csc_spalloc(rows, cols, numberOfNonZeroCoeff, 1, 0);
                                                ^~~~~~~~~~~~~~~~~~~~
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:34:24: error: there are no arguments to ‘csc_spalloc’ that depend on a template parameter, so a declaration of ‘csc_spalloc’ must be available [-fpermissive]
     osqpSparseMatrix = csc_spalloc(rows, cols, numberOfNonZeroCoeff, 1, 0);
                        ^~~~~~~~~~~
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:34:24: note: (if you use ‘-fpermissive’, G++ will accept your code, but allowing the use of an undeclared name is deprecated)
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:39:31: error: request for member ‘p’ in ‘osqpSparseMatrix->’, which is of non-class type ‘int’
             osqpSparseMatrix->p[k] = static_cast<c_int>(outerIndexPtr[k]);
                               ^
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:39:50: error: ‘c_int’ does not name a type; did you mean ‘u_int’?
             osqpSparseMatrix->p[k] = static_cast<c_int>(outerIndexPtr[k]);
                                                  ^~~~~
                                                  u_int
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:42:35: error: request for member ‘p’ in ‘osqpSparseMatrix->’, which is of non-class type ‘int’
                 osqpSparseMatrix->p[k] = 0;
                                   ^
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:44:35: error: request for member ‘p’ in ‘osqpSparseMatrix->’, which is of non-class type ‘int’
                 osqpSparseMatrix->p[k] = osqpSparseMatrix->p[k-1] + innerNonZerosPtr[k-1];
                                   ^
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:44:60: error: request for member ‘p’ in ‘osqpSparseMatrix->’, which is of non-class type ‘int’
                 osqpSparseMatrix->p[k] = osqpSparseMatrix->p[k-1] + innerNonZerosPtr[k-1];
                                                            ^
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:48:31: error: request for member ‘i’ in ‘osqpSparseMatrix->’, which is of non-class type ‘int’
             osqpSparseMatrix->i[innerOsqpPosition] = static_cast<c_int>(it.row());
                               ^
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:48:66: error: ‘c_int’ does not name a type; did you mean ‘u_int’?
             osqpSparseMatrix->i[innerOsqpPosition] = static_cast<c_int>(it.row());
                                                                  ^~~~~
                                                                  u_int
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:49:31: error: request for member ‘x’ in ‘osqpSparseMatrix->’, which is of non-class type ‘int’
             osqpSparseMatrix->x[innerOsqpPosition] = static_cast<c_float>(it.value());
                               ^
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:49:66: error: ‘c_float’ does not name a type; did you mean ‘float’?
             osqpSparseMatrix->x[innerOsqpPosition] = static_cast<c_float>(it.value());
                                                                  ^~~~~~~
                                                                  float
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:53:23: error: request for member ‘p’ in ‘osqpSparseMatrix->’, which is of non-class type ‘int’
     osqpSparseMatrix->p[static_cast<int>(cols)] = static_cast<c_int>(innerOsqpPosition);
                       ^
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:53:63: error: ‘c_int’ does not name a type; did you mean ‘u_int’?
     osqpSparseMatrix->p[static_cast<int>(cols)] = static_cast<c_int>(innerOsqpPosition);
                                                               ^~~~~
                                                               u_int
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp: At global scope:
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:61:70: error: ‘csc’ does not name a type; did you mean ‘cosl’?
 ool OsqpEigen::SparseMatrixHelper::osqpSparseMatrixToTriplets(const csc* const & osqpSparseMatrix,
                                                                     ^~~
                                                                      cosl
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp: In function ‘bool OsqpEigen::SparseMatrixHelper::osqpSparseMatrixToTriplets(const int* const&, std::vector<Eigen::Triplet<T> >&)’:
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:72:5: error: ‘c_int’ was not declared in this scope
     c_int* innerIndexPtr = osqpSparseMatrix->i;
     ^~~~~
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:72:5: note: suggested alternative: ‘u_int’
     c_int* innerIndexPtr = osqpSparseMatrix->i;
     ^~~~~
     u_int
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:72:12: error: ‘innerIndexPtr’ was not declared in this scope
     c_int* innerIndexPtr = osqpSparseMatrix->i;
            ^~~~~~~~~~~~~
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:72:46: error: request for member ‘i’ in ‘osqpSparseMatrix->’, which is of non-class type ‘const int’
     c_int* innerIndexPtr = osqpSparseMatrix->i;
                                              ^
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:73:12: error: ‘outerIndexPtr’ was not declared in this scope
     c_int* outerIndexPtr = osqpSparseMatrix->p;
            ^~~~~~~~~~~~~
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:73:46: error: request for member ‘p’ in ‘osqpSparseMatrix->’, which is of non-class type ‘const int’
     c_int* outerIndexPtr = osqpSparseMatrix->p;
                                              ^
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:76:5: error: ‘c_float’ was not declared in this scope
     c_float* valuePtr = osqpSparseMatrix->x;
     ^~~~~~~
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:76:5: note: suggested alternative: ‘float’
     c_float* valuePtr = osqpSparseMatrix->x;
     ^~~~~~~
     float
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:76:14: error: ‘valuePtr’ was not declared in this scope
     c_float* valuePtr = osqpSparseMatrix->x;
              ^~~~~~~~
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:76:43: error: request for member ‘x’ in ‘osqpSparseMatrix->’, which is of non-class type ‘const int’
     c_float* valuePtr = osqpSparseMatrix->x;
                                           ^
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:77:11: error: expected ‘;’ before ‘numberOfNonZeroCoeff’
     c_int numberOfNonZeroCoeff =  osqpSparseMatrix->p[osqpSparseMatrix->n];
           ^~~~~~~~~~~~~~~~~~~~
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:82:13: error: expected ‘;’ before ‘value’
     c_float value;
             ^~~~~
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:84:24: error: ‘numberOfNonZeroCoeff’ was not declared in this scope
     tripletList.resize(numberOfNonZeroCoeff);
                        ^~~~~~~~~~~~~~~~~~~~
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:87:9: error: ‘value’ was not declared in this scope
         value = valuePtr[i];
         ^~~~~
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:87:9: note: suggested alternative: ‘valloc’
         value = valuePtr[i];
         ^~~~~
         valloc
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp: At global scope:
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:101:79: error: ‘csc’ does not name a type; did you mean ‘cosl’?
 igen::SparseMatrixHelper::osqpSparseMatrixToEigenSparseMatrix(const csc* const & osqpSparseMatrix,
                                                                     ^~~
                                                                               cosl
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp: In function ‘bool OsqpEigen::SparseMatrixHelper::osqpSparseMatrixToEigenSparseMatrix(const int* const&, Eigen::SparseMatrix<Scalar>&)’:
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:112:34: error: request for member ‘m’ in ‘osqpSparseMatrix->’, which is of non-class type ‘const int’
     int rows = osqpSparseMatrix->m;
                                  ^
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:113:34: error: request for member ‘n’ in ‘osqpSparseMatrix->’, which is of non-class type ‘const int’
     int cols = osqpSparseMatrix->n;
                                  ^
In file included from /home/kanke/Downloads/osqp-eigen/src/Data.cpp:12:0:
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.hpp: At global scope:
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.hpp:30:9: error: ‘OSQPData’ does not name a type; did you mean ‘OSQPInt’?
         OSQPData *m_data; /**< OSQPData struct. */
         ^~~~~~~~
         OSQPInt
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.hpp:96:51: error: ‘c_float’ was not declared in this scope
         bool setGradient(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> gradientVector);
                                                   ^~~~~~~
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.hpp:96:51: note: suggested alternative: ‘float’
         bool setGradient(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> gradientVector);
                                                   ^~~~~~~
                                                   float
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.hpp:96:76: error: template argument 1 is invalid
  bool setGradient(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> gradientVector);
                                                                     ^
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.hpp:96:77: error: template argument 1 is invalid
 bool setGradient(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> gradientVector);
                                                                     ^~
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.hpp:96:77: error: template argument 3 is invalid
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.hpp:98:23: error: ‘c_float’ was not declared in this scope
         Eigen::Matrix<c_float, Eigen::Dynamic, 1> getGradient();
                       ^~~~~~~
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.hpp:98:23: note: suggested alternative: ‘float’
         Eigen::Matrix<c_float, Eigen::Dynamic, 1> getGradient();
                       ^~~~~~~
                       float
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.hpp:98:49: error: template argument 1 is invalid
         Eigen::Matrix<c_float, Eigen::Dynamic, 1> getGradient();
                                                 ^
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.hpp:116:53: error: ‘c_float’ was not declared in this scope
         bool setLowerBound(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> lowerBoundVector);
                                                     ^~~~~~~
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.hpp:116:53: note: suggested alternative: ‘float’
         bool setLowerBound(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> lowerBoundVector);
                                                     ^~~~~~~
                                                     float
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.hpp:116:78: error: template argument 1 is invalid
 ool setLowerBound(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> lowerBoundVector);
                                                                     ^
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.hpp:116:79: error: template argument 1 is invalid
 ol setLowerBound(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> lowerBoundVector);
                                                                     ^~
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.hpp:116:79: error: template argument 3 is invalid
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.hpp:126:53: error: ‘c_float’ was not declared in this scope
         bool setUpperBound(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> upperBoundVector);
                                                     ^~~~~~~
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.hpp:126:53: note: suggested alternative: ‘float’
         bool setUpperBound(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> upperBoundVector);
                                                     ^~~~~~~
                                                     float
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.hpp:126:78: error: template argument 1 is invalid
 ool setUpperBound(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> upperBoundVector);
                                                                     ^
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.hpp:126:79: error: template argument 1 is invalid
 ol setUpperBound(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> upperBoundVector);
                                                                     ^~
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.hpp:126:79: error: template argument 3 is invalid
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.hpp:137:49: error: ‘c_float’ was not declared in this scope
         bool setBounds(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> lowerBound,
                                                 ^~~~~~~
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.hpp:137:49: note: suggested alternative: ‘float’
         bool setBounds(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> lowerBound,
                                                 ^~~~~~~
                                                 float
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.hpp:137:74: error: template argument 1 is invalid
    bool setBounds(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> lowerBound,
                                                                     ^
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.hpp:137:75: error: template argument 1 is invalid
   bool setBounds(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> lowerBound,
                                                                     ^~
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.hpp:137:75: error: template argument 3 is invalid
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.hpp:138:49: error: ‘c_float’ was not declared in this scope
                        Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> upperBound);
                                                 ^~~~~~~
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.hpp:138:49: note: suggested alternative: ‘float’
                        Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> upperBound);
                                                 ^~~~~~~
                                                 float
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.hpp:138:74: error: template argument 1 is invalid
                   Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> upperBound);
                                                                     ^
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.hpp:138:75: error: template argument 1 is invalid
                  Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> upperBound);
                                                                     ^~
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.hpp:138:75: error: template argument 3 is invalid
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.hpp:144:9: error: ‘OSQPData’ does not name a type; did you mean ‘OSQPInt’?
         OSQPData *const & getData() const;
         ^~~~~~~~
         OSQPInt
In file included from /home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.hpp:154:0,
                 from /home/kanke/Downloads/osqp-eigen/src/Data.cpp:12:
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.tpp: In member function ‘bool OsqpEigen::Data::setHessianMatrix(const Eigen::SparseCompressedBase<Derived>&)’:
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.tpp:30:34: error: ‘m_data’ was not declared in this scope
     if ((hessianMatrix.rows() != m_data->n) || (hessianMatrix.cols()!= m_data->n)){
                                  ^~~~~~
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.tpp:30:34: note: suggested alternative: ‘Data’
     if ((hessianMatrix.rows() != m_data->n) || (hessianMatrix.cols()!= m_data->n)){
                                  ^~~~~~
                                  Data
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.tpp:39:93: error: ‘m_data’ was not declared in this scope
 eMatrixHelper::createOsqpSparseMatrix(hessianMatrixUpperTriangular, m_data->P)){
                                                                     ^~~~~~
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.tpp:39:93: note: suggested alternative: ‘Data’
 eMatrixHelper::createOsqpSparseMatrix(hessianMatrixUpperTriangular, m_data->P)){
                                                                     ^~~~~~
                                                                                             Data
In file included from /home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.hpp:154:0,
                 from /home/kanke/Downloads/osqp-eigen/src/Data.cpp:12:
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.tpp: In member function ‘bool OsqpEigen::Data::setLinearConstraintsMatrix(const Eigen::SparseCompressedBase<Derived>&)’:
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.tpp:70:44: error: ‘m_data’ was not declared in this scope
     if ((linearConstraintsMatrix.rows() != m_data->m) || (linearConstraintsMatrix.cols()!= m_data->n)){
                                            ^~~~~~
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.tpp:70:44: note: suggested alternative: ‘Data’
     if ((linearConstraintsMatrix.rows() != m_data->m) || (linearConstraintsMatrix.cols()!= m_data->n)){
                                            ^~~~~~
                                            Data
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.tpp:78:65: error: ‘m_data’ was not declared in this scope
                                                                 m_data->A)){
                                                                 ^~~~~~
/home/kanke/Downloads/osqp-eigen/include/OsqpEigen/Data.tpp:78:65: note: suggested alternative: ‘Data’
                                                                 m_data->A)){
                                                                 ^~~~~~
                                                                 Data
/home/kanke/Downloads/osqp-eigen/src/Data.cpp: In constructor ‘OsqpEigen::Data::Data()’:
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:24:5: error: ‘m_data’ was not declared in this scope
     m_data = (OSQPData *)c_malloc(sizeof(OSQPData));
     ^~~~~~
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:24:5: note: suggested alternative: ‘Data’
     m_data = (OSQPData *)c_malloc(sizeof(OSQPData));
     ^~~~~~
     Data
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:24:15: error: ‘OSQPData’ was not declared in this scope
     m_data = (OSQPData *)c_malloc(sizeof(OSQPData));
               ^~~~~~~~
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:24:15: note: suggested alternative: ‘OSQPInt’
     m_data = (OSQPData *)c_malloc(sizeof(OSQPData));
               ^~~~~~~~
               OSQPInt
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:24:25: error: expected primary-expression before ‘)’ token
     m_data = (OSQPData *)c_malloc(sizeof(OSQPData));
                         ^
/home/kanke/Downloads/osqp-eigen/src/Data.cpp: In constructor ‘OsqpEigen::Data::Data(int, int)’:
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:38:5: error: ‘m_data’ was not declared in this scope
     m_data = (OSQPData *)c_malloc(sizeof(OSQPData));
     ^~~~~~
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:38:5: note: suggested alternative: ‘Data’
     m_data = (OSQPData *)c_malloc(sizeof(OSQPData));
     ^~~~~~
     Data
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:38:15: error: ‘OSQPData’ was not declared in this scope
     m_data = (OSQPData *)c_malloc(sizeof(OSQPData));
               ^~~~~~~~
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:38:15: note: suggested alternative: ‘OSQPInt’
     m_data = (OSQPData *)c_malloc(sizeof(OSQPData));
               ^~~~~~~~
               OSQPInt
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:38:25: error: expected primary-expression before ‘)’ token
     m_data = (OSQPData *)c_malloc(sizeof(OSQPData));
                         ^
/home/kanke/Downloads/osqp-eigen/src/Data.cpp: In member function ‘void OsqpEigen::Data::clearHessianMatrix()’:
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:50:20: error: ‘m_data’ was not declared in this scope
         csc_spfree(m_data->P);
                    ^~~~~~
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:50:20: note: suggested alternative: ‘Data’
         csc_spfree(m_data->P);
                    ^~~~~~
                    Data
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:50:9: error: ‘csc_spfree’ was not declared in this scope
         csc_spfree(m_data->P);
         ^~~~~~~~~~
/home/kanke/Downloads/osqp-eigen/src/Data.cpp: In member function ‘void OsqpEigen::Data::clearLinearConstraintsMatrix()’:
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:59:20: error: ‘m_data’ was not declared in this scope
         csc_spfree(m_data->A);
                    ^~~~~~
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:59:20: note: suggested alternative: ‘Data’
         csc_spfree(m_data->A);
                    ^~~~~~
                    Data
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:59:9: error: ‘csc_spfree’ was not declared in this scope
         csc_spfree(m_data->A);
         ^~~~~~~~~~
/home/kanke/Downloads/osqp-eigen/src/Data.cpp: In destructor ‘OsqpEigen::Data::~Data()’:
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:68:12: error: ‘m_data’ was not declared in this scope
     c_free(m_data);
            ^~~~~~
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:68:12: note: suggested alternative: ‘Data’
     c_free(m_data);
            ^~~~~~
            Data
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:68:5: error: ‘c_free’ was not declared in this scope
     c_free(m_data);
     ^~~~~~
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:68:5: note: suggested alternative: ‘free’
     c_free(m_data);
     ^~~~~~
     free
/home/kanke/Downloads/osqp-eigen/src/Data.cpp: In member function ‘void OsqpEigen::Data::setNumberOfVariables(int)’:
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:74:5: error: ‘m_data’ was not declared in this scope
     m_data->n = n;
     ^~~~~~
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:74:5: note: suggested alternative: ‘Data’
     m_data->n = n;
     ^~~~~~
     Data
/home/kanke/Downloads/osqp-eigen/src/Data.cpp: In member function ‘void OsqpEigen::Data::setNumberOfConstraints(int)’:
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:80:5: error: ‘m_data’ was not declared in this scope
     m_data->m = m;
     ^~~~~~
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:80:5: note: suggested alternative: ‘Data’
     m_data->m = m;
     ^~~~~~
     Data
/home/kanke/Downloads/osqp-eigen/src/Data.cpp: At global scope:
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:83:1: error: ‘OSQPData’ does not name a type; did you mean ‘OSQPInt’?
 OSQPData* const & OsqpEigen::Data::getData() const
 ^~~~~~~~
 OSQPInt
/home/kanke/Downloads/osqp-eigen/src/Data.cpp: In member function ‘bool OsqpEigen::Data::isSet() const’:
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:90:36: error: ‘m_data’ was not declared in this scope
     const bool areConstraintsOk = (m_data->m == 0) ||
                                    ^~~~~~
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:90:36: note: suggested alternative: ‘Data’
     const bool areConstraintsOk = (m_data->m == 0) ||
                                    ^~~~~~
                                    Data
/home/kanke/Downloads/osqp-eigen/src/Data.cpp: At global scope:
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:102:60: error: ‘c_float’ was not declared in this scope
 bool OsqpEigen::Data::setGradient(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> gradient)
                                                            ^~~~~~~
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:102:60: note: suggested alternative: ‘float’
 bool OsqpEigen::Data::setGradient(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> gradient)
                                                            ^~~~~~~
                                                            float
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:102:85: error: template argument 1 is invalid
 Data::setGradient(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> gradient)
                                                                     ^
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:102:86: error: template argument 1 is invalid
 ata::setGradient(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> gradient)
                                                                     ^~
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:102:86: error: template argument 3 is invalid
/home/kanke/Downloads/osqp-eigen/src/Data.cpp: In member function ‘bool OsqpEigen::Data::setGradient(int)’:
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:104:17: error: request for member ‘rows’ in ‘gradient’, which is of non-class type ‘int’
     if(gradient.rows() != m_data->n){
                 ^~~~
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:104:27: error: ‘m_data’ was not declared in this scope
     if(gradient.rows() != m_data->n){
                           ^~~~~~
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:104:27: note: suggested alternative: ‘Data’
     if(gradient.rows() != m_data->n){
                           ^~~~~~
                           Data
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:110:5: error: ‘m_data’ was not declared in this scope
     m_data->q = gradient.data();
     ^~~~~~
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:110:5: note: suggested alternative: ‘Data’
     m_data->q = gradient.data();
     ^~~~~~
     Data
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:110:26: error: request for member ‘data’ in ‘gradient’, which is of non-class type ‘int’
     m_data->q = gradient.data();
                          ^~~~
/home/kanke/Downloads/osqp-eigen/src/Data.cpp: At global scope:
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:114:15: error: ‘c_float’ was not declared in this scope
 Eigen::Matrix<c_float, Eigen::Dynamic, 1> OsqpEigen::Data::getGradient()
               ^~~~~~~
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:114:15: note: suggested alternative: ‘float’
 Eigen::Matrix<c_float, Eigen::Dynamic, 1> OsqpEigen::Data::getGradient()
               ^~~~~~~
               float
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:114:41: error: template argument 1 is invalid
 Eigen::Matrix<c_float, Eigen::Dynamic, 1> OsqpEigen::Data::getGradient()
                                         ^
/home/kanke/Downloads/osqp-eigen/src/Data.cpp: In member function ‘int OsqpEigen::Data::getGradient()’:
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:116:37: error: ‘c_float’ was not declared in this scope
     return Eigen::Map<Eigen::Matrix<c_float, Eigen::Dynamic, 1>>(m_data->q, m_data->n);
                                     ^~~~~~~
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:116:37: note: suggested alternative: ‘float’
     return Eigen::Map<Eigen::Matrix<c_float, Eigen::Dynamic, 1>>(m_data->q, m_data->n);
                                     ^~~~~~~
                                     float
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:116:62: error: template argument 1 is invalid
     return Eigen::Map<Eigen::Matrix<c_float, Eigen::Dynamic, 1>>(m_data->q, m_data->n);
                                                              ^
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:116:63: error: template argument 1 is invalid
     return Eigen::Map<Eigen::Matrix<c_float, Eigen::Dynamic, 1>>(m_data->q, m_data->n);
                                                               ^~
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:116:66: error: ‘m_data’ was not declared in this scope
     return Eigen::Map<Eigen::Matrix<c_float, Eigen::Dynamic, 1>>(m_data->q, m_data->n);
                                                                  ^~~~~~
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:116:66: note: suggested alternative: ‘Data’
     return Eigen::Map<Eigen::Matrix<c_float, Eigen::Dynamic, 1>>(m_data->q, m_data->n);
                                                                  ^~~~~~
                                                                  Data
/home/kanke/Downloads/osqp-eigen/src/Data.cpp: At global scope:
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:119:62: error: ‘c_float’ was not declared in this scope
 bool OsqpEigen::Data::setLowerBound(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> lowerBound)
                                                              ^~~~~~~
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:119:62: note: suggested alternative: ‘float’
 bool OsqpEigen::Data::setLowerBound(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> lowerBound)
                                                              ^~~~~~~
                                                              float
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:119:87: error: template argument 1 is invalid
 ta::setLowerBound(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> lowerBound)
                                                                     ^
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:119:88: error: template argument 1 is invalid
 a::setLowerBound(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> lowerBound)
                                                                     ^~
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:119:88: error: template argument 3 is invalid
/home/kanke/Downloads/osqp-eigen/src/Data.cpp: In member function ‘bool OsqpEigen::Data::setLowerBound(int)’:
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:121:19: error: request for member ‘rows’ in ‘lowerBound’, which is of non-class type ‘int’
     if(lowerBound.rows() != m_data->m){
                   ^~~~
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:121:29: error: ‘m_data’ was not declared in this scope
     if(lowerBound.rows() != m_data->m){
                             ^~~~~~
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:121:29: note: suggested alternative: ‘Data’
     if(lowerBound.rows() != m_data->m){
                             ^~~~~~
                             Data
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:127:5: error: ‘m_data’ was not declared in this scope
     m_data->l = lowerBound.data();
     ^~~~~~
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:127:5: note: suggested alternative: ‘Data’
     m_data->l = lowerBound.data();
     ^~~~~~
     Data
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:127:28: error: request for member ‘data’ in ‘lowerBound’, which is of non-class type ‘int’
     m_data->l = lowerBound.data();
                            ^~~~
/home/kanke/Downloads/osqp-eigen/src/Data.cpp: At global scope:
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:131:62: error: ‘c_float’ was not declared in this scope
 bool OsqpEigen::Data::setUpperBound(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> upperBound)
                                                              ^~~~~~~
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:131:62: note: suggested alternative: ‘float’
 bool OsqpEigen::Data::setUpperBound(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> upperBound)
                                                              ^~~~~~~
                                                              float
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:131:87: error: template argument 1 is invalid
 ta::setUpperBound(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> upperBound)
                                                                     ^
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:131:88: error: template argument 1 is invalid
 a::setUpperBound(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> upperBound)
                                                                     ^~
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:131:88: error: template argument 3 is invalid
/home/kanke/Downloads/osqp-eigen/src/Data.cpp: In member function ‘bool OsqpEigen::Data::setUpperBound(int)’:
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:133:19: error: request for member ‘rows’ in ‘upperBound’, which is of non-class type ‘int’
     if(upperBound.rows() != m_data->m){
                   ^~~~
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:133:29: error: ‘m_data’ was not declared in this scope
     if(upperBound.rows() != m_data->m){
                             ^~~~~~
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:133:29: note: suggested alternative: ‘Data’
     if(upperBound.rows() != m_data->m){
                             ^~~~~~
                             Data
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:139:5: error: ‘m_data’ was not declared in this scope
     m_data->u = upperBound.data();
     ^~~~~~
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:139:5: note: suggested alternative: ‘Data’
     m_data->u = upperBound.data();
     ^~~~~~
     Data
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:139:28: error: request for member ‘data’ in ‘upperBound’, which is of non-class type ‘int’
     m_data->u = upperBound.data();
                            ^~~~
/home/kanke/Downloads/osqp-eigen/src/Data.cpp: At global scope:
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:143:58: error: ‘c_float’ was not declared in this scope
 bool OsqpEigen::Data::setBounds(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> lowerBound,
                                                          ^~~~~~~
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:143:58: note: suggested alternative: ‘float’
 bool OsqpEigen::Data::setBounds(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> lowerBound,
                                                          ^~~~~~~
                                                          float
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:143:83: error: template argument 1 is invalid
 ::Data::setBounds(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> lowerBound,
                                                                     ^
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:143:84: error: template argument 1 is invalid
 :Data::setBounds(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> lowerBound,
                                                                     ^~
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:143:84: error: template argument 3 is invalid
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:144:58: error: ‘c_float’ was not declared in this scope
                                 Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> upperBound)
                                                          ^~~~~~~
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:144:58: note: suggested alternative: ‘float’
                                 Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> upperBound)
                                                          ^~~~~~~
                                                          float
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:144:83: error: template argument 1 is invalid
                   Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> upperBound)
                                                                     ^
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:144:84: error: template argument 1 is invalid
                  Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> upperBound)
                                                                     ^~
/home/kanke/Downloads/osqp-eigen/src/Data.cpp:144:84: error: template argument 3 is invalid
CMakeFiles/OsqpEigen.dir/build.make:81: recipe for target 'CMakeFiles/OsqpEigen.dir/src/Data.cpp.o' failed
make[2]: *** [CMakeFiles/OsqpEigen.dir/src/Data.cpp.o] Error 1
CMakeFiles/Makefile2:142: recipe for target 'CMakeFiles/OsqpEigen.dir/all' failed
make[1]: *** [CMakeFiles/OsqpEigen.dir/all] Error 2
Makefile:148: recipe for target 'all' failed
make: *** [all] Error 2
traversaro commented 1 year ago

Which version of osqp are you compiling against?

ubgaokk commented 1 year ago

I compiled the current master branch of osqp github https://github.com/osqp/osqp Everything of osqp goes smoothly.

traversaro commented 1 year ago

Can you try to use osqp 0.6.3 ? At the moment compatibility with latest osqp is work in progress, see https://github.com/robotology/osqp-eigen/pull/131 .

BorisVandermeer commented 1 year ago

osqp.zip This OSQP source works fine with this repo. OSQP repo changes a lot recently ...

traversaro commented 1 year ago

I think also v0.6.3 should work fine, for the changes necessary for osqp master see https://github.com/robotology/osqp-eigen/pull/131 .

ubgaokk commented 1 year ago

Thanks, @traversaro and @BorisVandermeer . I have tried v0.6.3 OSQP, it works well now. Thanks.