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Comments (5)

vsamy avatar vsamy commented on June 24, 2024

It works perfetly on my side. What compiler do you use? You can eventually add set(CMAKE_CXX_STANDARD 11) in the cmake.

You can also try this:

return { position, rotation, p, mu, nrGenerators };

or this

return wcl::ContactSurface{position, rotation, p, mu, nrGenerators};

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wyqsnddd avatar wyqsnddd commented on June 24, 2024

Actually I already added set(CMAKE_CXX_STANDARD 11) but I still have the issue. I am using ubuntu 16.04 and

gcc --version
gcc (Ubuntu 5.4.0-6ubuntu1~16.04.11) 5.4.0 20160609
Copyright (C) 2015 Free Software Foundation, Inc.
This is free software; see the source for copying conditions.  There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.

I tried both of the modifications but end up with errors:
1.

return { position, rotation, p, mu, nrGenerators };

In function ‘wcl::ContactSurface wcl::rectangularSurface(double, double, const Vector3d&, const Matrix3d&, double, unsigned int)’:
/home/yuquan/local/wrench-cone-lib/src/ContactSurface.cpp:33:71: error: no matching function for call to ‘wcl::ContactSurface::ContactSurface(<brace-enclosed initializer list>)’
     return wcl::ContactSurface{position, rotation, p, mu, nrGenerators};
                                                                       ^
In file included from /home/yuquan/local/wrench-cone-lib/src/ContactSurface.cpp:19:0:
/home/yuquan/local/wrench-cone-lib/include/wcl/ContactSurface.h:30:19: note: candidate: wcl::ContactSurface::ContactSurface()
 struct WCL_DLLAPI ContactSurface {
                   ^
/home/yuquan/local/wrench-cone-lib/include/wcl/ContactSurface.h:30:19: note:   candidate expects 0 arguments, 5 provided
/home/yuquan/local/wrench-cone-lib/include/wcl/ContactSurface.h:30:19: note: candidate: wcl::ContactSurface::ContactSurface(const wcl::ContactSurface&)
/home/yuquan/local/wrench-cone-lib/include/wcl/ContactSurface.h:30:19: note:   candidate expects 1 argument, 5 provided
/home/yuquan/local/wrench-cone-lib/include/wcl/ContactSurface.h:30:19: note: candidate: wcl::ContactSurface::ContactSurface(wcl::ContactSurface&&)
/home/yuquan/local/wrench-cone-lib/include/wcl/ContactSurface.h:30:19: note:   candidate expects 1 argument, 5 provided
src/CMakeFiles/wcl.dir/build.make:65: recipe for target 'src/CMakeFiles/wcl.dir/ContactSurface.cpp.o' failed
make[2]: *** [src/CMakeFiles/wcl.dir/ContactSurface.cpp.o] Error 1
make[2]: Leaving directory '/home/yuquan/local/wrench-cone-lib/build'
CMakeFiles/Makefile2:1300: recipe for target 'src/CMakeFiles/wcl.dir/all' failed
make[1]: *** [src/CMakeFiles/wcl.dir/all] Error 2
make[1]: Leaving directory '/home/yuquan/local/wrench-cone-lib/build'
Makefile:143: recipe for target 'all' failed
make: *** [all] Error 2
return wcl::ContactSurface{position, rotation, p, mu, nrGenerators};

/home/yuquan/local/wrench-cone-lib/src/ContactSurface.cpp: In function ‘wcl::ContactSurface wcl::rectangularSurface(double, double, const Vector3d&, const Matrix3d&, double, unsigned int)’:
/home/yuquan/local/wrench-cone-lib/src/ContactSurface.cpp:34:54: error: could not convert ‘{position, rotation, p, mu, nrGenerators}’ from ‘<brace-enclosed initializer list>’ to ‘wcl::ContactSurface’
     return { position, rotation, p, mu, nrGenerators };
                                                      ^
src/CMakeFiles/wcl.dir/build.make:65: recipe for target 'src/CMakeFiles/wcl.dir/ContactSurface.cpp.o' failed
make[2]: *** [src/CMakeFiles/wcl.dir/ContactSurface.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[2]: Leaving directory '/home/yuquan/local/wrench-cone-lib/build'
CMakeFiles/Makefile2:1300: recipe for target 'src/CMakeFiles/wcl.dir/all' failed
make[1]: *** [src/CMakeFiles/wcl.dir/all] Error 2
make[1]: Leaving directory '/home/yuquan/local/wrench-cone-lib/build'
Makefile:143: recipe for target 'all' failed
make: *** [all] Error 2

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vsamy avatar vsamy commented on June 24, 2024

Ok, it is due to the default initialization of the ContactSurface.

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vsamy avatar vsamy commented on June 24, 2024

GCC 5.4 is quite old, this behavior is solved from GCC 5.5 actually.
Try this:

wcl::ContactSurface rectangularSurface(.....)
{
    std::vector<Eigen::Vector3d> p;
    // all the emplace_back
#if defined(__GNUC__) && (__GNUC___ <= 5 && __GNUC_MINOR__ <= 4)
    wcl::ContactSurface cs;
    cs.position = position;
    cs.rotation = rotation;
    cs.points = std::move(p);
    cs.mu = mu;
    cs.nrGenerators = nrGenerators;
    return cs;
#else
    return { p, 0.2, 10 };
#endif
}

If it works, i will patch.

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wyqsnddd avatar wyqsnddd commented on June 24, 2024

Good! It works on my side too, excellent!

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