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robotology / whole-body-estimators

YARP devices that implement estimators for humanoid robots.
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Link to YARP::YARP_eigen #73

Closed traversaro closed 4 years ago

traversaro commented 4 years ago

Compiling the baseEstimatorV1 device against a YARP used from the build directory result in the following error:

[ 45%] Building CXX object devices/baseEstimatorV1/CMakeFiles/baseEstimatorV1.dir/src/baseEstimatorV1.cpp.o
In file included from /usr/local/src/robot/robotology-superbuild/robotology/whole-body-estimators/devices/baseEstimatorV1/src/baseEstimatorV1.cpp:9:0:
/usr/local/src/robot/robotology-superbuild/robotology/whole-body-estimators/devices/baseEstimatorV1/include/baseEstimatorV1.h:32:10: fatal error: yarp/eigen/Eigen.h: No such file or directory
 #include <yarp/eigen/Eigen.h>

this happens because baseEstimatorV1 does not correctly links to YARP::YARP_eigen.

traversaro commented 4 years ago

See https://github.com/xEnVrE/robots-modules/blob/38aaa2beeee1e74ca84611d055cc595aacf25a92/src/ICUB/ExtrinsicCalibration/Test/CMakeLists.txt#L32 for an example on how to link YARP::YARP_eigen.

prashanthr05 commented 4 years ago

Shouldn't this be available in ${YARP_LIBRARIES}?

https://github.com/robotology/whole-body-estimators/blob/0c4cc016a6860a219f76b19abc51deaa4e2b10f1/devices/baseEstimatorV1/CMakeLists.txt#L39

From what I noted, a YARP installation using robotology-superbuild was creating an include/yarp/Eigen folder, whereas in iCubGenova02 there was no such installation.

traversaro commented 4 years ago

Shouldn't this be available in ${YARP_LIBRARIES}?

I am not sure, I guess in any case you need to explicitly ask to it via https://github.com/xEnVrE/robots-modules/blob/38aaa2beeee1e74ca84611d055cc595aacf25a92/src/ICUB/ExtrinsicCalibration/Test/CMakeLists.txt#L16 .

whereas in iCubGenova02 there was no such installation.

Using YARP from the build directory is not widespread nowadays, but it still works fine even without any installation.

prashanthr05 commented 4 years ago

74 has been opened. @lrapetti told he would test this PR on iCubGenova02.

Thank you @lrapetti.

lrapetti commented 4 years ago

74 has been opened. @lrapetti told he would test this PR on iCubGenova02.

Thank you @lrapetti.

I have tested the code you commited using YARP from the build directory and it fixes the compilation issue

prashanthr05 commented 4 years ago

Great, thanks a lot @lrapetti !!

prashanthr05 commented 4 years ago

74 was merged. Closing this issue.