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admm-slam error 2

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Oct 19th, 2016
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  1. Step 13 : RUN cmake .. && make -j8 && make check && make install && ldconfig
  2. ---> Running in 461df33ac14b
  3. -- The C compiler identification is GNU 4.8.4
  4. -- The CXX compiler identification is GNU 4.8.4
  5. -- Check for working C compiler: /usr/bin/cc
  6. -- Check for working C compiler: /usr/bin/cc -- works
  7. -- Detecting C compiler ABI info
  8. -- Detecting C compiler ABI info - done
  9. -- Check for working CXX compiler: /usr/bin/c++
  10. -- Check for working CXX compiler: /usr/bin/c++ -- works
  11. -- Detecting CXX compiler ABI info
  12. -- Detecting CXX compiler ABI info - done
  13. -- GTSAM include directory: /usr/local/lib/cmake/GTSAM/../../../include;/usr/local/include/gtsam/3rdparty/Eigen/
  14. GTSAM Libraries:
  15. -- Boost version: 1.54.0
  16. -- Found the following Boost libraries:
  17. -- serialization
  18. -- filesystem
  19. -- system
  20. -- program_options
  21. -- thread
  22. -- Configuring done
  23. -- Generating done
  24. -- Build files have been written to: /root/ws/admm-slam/cpp/build
  25. Scanning dependencies of target admm
  26. [ 33%] Building CXX object CMakeFiles/admm.dir/src/ADMM.cpp.o
  27. In file included from /usr/include/c++/4.8/cstdint:35:0,
  28. from /usr/local/include/gtsam/base/types.h:28,
  29. from /usr/local/include/gtsam/global_includes.h:22,
  30. from /usr/local/include/gtsam/base/Vector.h:27,
  31. from /usr/local/include/gtsam/base/Matrix.h:26,
  32. from /usr/local/include/gtsam/base/Manifold.h:22,
  33. from /usr/local/include/gtsam/base/Lie.h:25,
  34. from /usr/local/include/gtsam/base/VectorSpace.h:11,
  35. from /usr/local/include/gtsam/geometry/Point2.h:20,
  36. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:24,
  37. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  38. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  39. /usr/include/c++/4.8/bits/c++0x_warning.h:32:2: error: #error This file requires compiler and library support for the ISO C++ 2011 standard. This support is currently experimental, and must be enabled with the -std=c++11 or -std=gnu++11 compiler options.
  40. #error This file requires compiler and library support for the \
  41. ^
  42. In file included from /usr/local/include/gtsam/global_includes.h:22:0,
  43. from /usr/local/include/gtsam/base/Vector.h:27,
  44. from /usr/local/include/gtsam/base/Matrix.h:26,
  45. from /usr/local/include/gtsam/base/Manifold.h:22,
  46. from /usr/local/include/gtsam/base/Lie.h:25,
  47. from /usr/local/include/gtsam/base/VectorSpace.h:11,
  48. from /usr/local/include/gtsam/geometry/Point2.h:20,
  49. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:24,
  50. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  51. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  52. /usr/local/include/gtsam/base/types.h:57:11: error: 'uint64_t' in namespace 'std' does not name a type
  53. typedef std::uint64_t Key;
  54. ^
  55. In file included from /usr/local/include/gtsam/nonlinear/Values.h:29:0,
  56. from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:23,
  57. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:25,
  58. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  59. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  60. /usr/local/include/gtsam/inference/Key.h:33:37: error: 'Key' was not declared in this scope
  61. typedef boost::function<std::string(Key)> KeyFormatter;
  62. ^
  63. /usr/local/include/gtsam/inference/Key.h:33:41: error: template argument 1 is invalid
  64. typedef boost::function<std::string(Key)> KeyFormatter;
  65. ^
  66. /usr/local/include/gtsam/inference/Key.h:33:55: error: invalid type in declaration before ';' token
  67. typedef boost::function<std::string(Key)> KeyFormatter;
  68. ^
  69. /usr/local/include/gtsam/inference/Key.h:36:47: error: 'Key' was not declared in this scope
  70. GTSAM_EXPORT std::string _defaultKeyFormatter(Key key);
  71. ^
  72. /usr/local/include/gtsam/inference/Key.h:41:50: error: invalid conversion from 'std::string* {aka std::basic_string<char>*}' to 'gtsam::KeyFormatter {aka int}' [-fpermissive]
  73. static const KeyFormatter DefaultKeyFormatter = &_defaultKeyFormatter;
  74. ^
  75. /usr/local/include/gtsam/inference/Key.h:44:50: error: 'Key' is not a member of 'gtsam'
  76. GTSAM_EXPORT std::string _multirobotKeyFormatter(gtsam::Key key);
  77. ^
  78. /usr/local/include/gtsam/inference/Key.h:53:6: error: invalid conversion from 'std::string* {aka std::basic_string<char>*}' to 'gtsam::KeyFormatter {aka int}' [-fpermissive]
  79. &_multirobotKeyFormatter;
  80. ^
  81. /usr/local/include/gtsam/inference/Key.h:56:20: error: 'Key' was not declared in this scope
  82. typedef FastVector<Key> KeyVector;
  83. ^
  84. /usr/local/include/gtsam/inference/Key.h:56:23: error: template argument 1 is invalid
  85. typedef FastVector<Key> KeyVector;
  86. ^
  87. /usr/local/include/gtsam/inference/Key.h:56:34: error: invalid type in declaration before ';' token
  88. typedef FastVector<Key> KeyVector;
  89. ^
  90. /usr/local/include/gtsam/inference/Key.h:59:18: error: 'Key' was not declared in this scope
  91. typedef FastList<Key> KeyList;
  92. ^
  93. /usr/local/include/gtsam/inference/Key.h:59:21: error: template argument 1 is invalid
  94. typedef FastList<Key> KeyList;
  95. ^
  96. /usr/local/include/gtsam/inference/Key.h:59:30: error: invalid type in declaration before ';' token
  97. typedef FastList<Key> KeyList;
  98. ^
  99. /usr/local/include/gtsam/inference/Key.h:60:17: error: 'Key' was not declared in this scope
  100. typedef FastSet<Key> KeySet;
  101. ^
  102. /usr/local/include/gtsam/inference/Key.h:60:20: error: template argument 1 is invalid
  103. typedef FastSet<Key> KeySet;
  104. ^
  105. /usr/local/include/gtsam/inference/Key.h:60:28: error: invalid type in declaration before ';' token
  106. typedef FastSet<Key> KeySet;
  107. ^
  108. /usr/local/include/gtsam/inference/Key.h:61:17: error: 'Key' was not declared in this scope
  109. typedef FastMap<Key, int> KeyGroupMap;
  110. ^
  111. /usr/local/include/gtsam/inference/Key.h:61:25: error: template argument 1 is invalid
  112. typedef FastMap<Key, int> KeyGroupMap;
  113. ^
  114. /usr/local/include/gtsam/inference/Key.h:61:38: error: invalid type in declaration before ';' token
  115. typedef FastMap<Key, int> KeyGroupMap;
  116. ^
  117. /usr/local/include/gtsam/inference/Key.h:64:28: error: variable or field 'PrintKey' declared void
  118. GTSAM_EXPORT void PrintKey(Key key, const std::string& s = "",
  119. ^
  120. /usr/local/include/gtsam/inference/Key.h:64:28: error: 'Key' was not declared in this scope
  121. /usr/local/include/gtsam/inference/Key.h:64:37: error: expected primary-expression before 'const'
  122. GTSAM_EXPORT void PrintKey(Key key, const std::string& s = "",
  123. ^
  124. /usr/local/include/gtsam/inference/Key.h:65:5: error: expected primary-expression before 'const'
  125. const KeyFormatter& keyFormatter = DefaultKeyFormatter);
  126. ^
  127. /usr/local/include/gtsam/inference/Key.h:83:15: error: 'Key' was not declared in this scope
  128. struct traits<Key> {
  129. ^
  130. /usr/local/include/gtsam/inference/Key.h:83:18: error: template argument 1 is invalid
  131. struct traits<Key> {
  132. ^
  133. In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:23:0,
  134. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:25,
  135. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  136. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  137. /usr/local/include/gtsam/nonlinear/Values.h:79:9: error: 'Key' was not declared in this scope
  138. Key,
  139. ^
  140. /usr/local/include/gtsam/nonlinear/Values.h:81:19: error: 'Key' was not declared in this scope
  141. std::less<Key>,
  142. ^
  143. /usr/local/include/gtsam/nonlinear/Values.h:81:22: error: template argument 1 is invalid
  144. std::less<Key>,
  145. ^
  146. /usr/local/include/gtsam/nonlinear/Values.h:83:62: error: wrong number of template arguments (1, should be 2)
  147. boost::fast_pool_allocator<std::pair<const Key, void*> > > KeyValueMap;
  148. ^
  149. In file included from /usr/include/c++/4.8/bits/stl_algobase.h:64:0,
  150. from /usr/include/c++/4.8/bits/char_traits.h:39,
  151. from /usr/include/c++/4.8/ios:40,
  152. from /usr/include/c++/4.8/istream:38,
  153. from /usr/include/c++/4.8/sstream:38,
  154. from /usr/include/c++/4.8/complex:45,
  155. from /usr/local/include/gtsam/3rdparty/Eigen/Eigen/Core:28,
  156. from /usr/local/include/gtsam/3rdparty/Eigen/Eigen/Dense:1,
  157. from /usr/local/include/gtsam/base/OptionalJacobian.h:22,
  158. from /usr/local/include/gtsam/base/Matrix.h:25,
  159. from /usr/local/include/gtsam/base/Manifold.h:22,
  160. from /usr/local/include/gtsam/base/Lie.h:25,
  161. from /usr/local/include/gtsam/base/VectorSpace.h:11,
  162. from /usr/local/include/gtsam/geometry/Point2.h:20,
  163. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:24,
  164. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  165. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  166. /usr/include/c++/4.8/bits/stl_pair.h:96:12: error: provided for 'template<class _T1, class _T2> struct std::pair'
  167. struct pair
  168. ^
  169. In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:23:0,
  170. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:25,
  171. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  172. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  173. /usr/local/include/gtsam/nonlinear/Values.h:83:64: error: template argument 1 is invalid
  174. boost::fast_pool_allocator<std::pair<const Key, void*> > > KeyValueMap;
  175. ^
  176. /usr/local/include/gtsam/nonlinear/Values.h:83:66: error: template argument 1 is invalid
  177. boost::fast_pool_allocator<std::pair<const Key, void*> > > KeyValueMap;
  178. ^
  179. /usr/local/include/gtsam/nonlinear/Values.h:83:66: error: template argument 3 is invalid
  180. /usr/local/include/gtsam/nonlinear/Values.h:83:66: error: template argument 5 is invalid
  181. /usr/local/include/gtsam/nonlinear/Values.h:89:26: error: '::const_iterator' has not been declared
  182. typedef KeyValueMap::const_iterator::value_type ConstKeyValuePtrPair;
  183. ^
  184. /usr/local/include/gtsam/nonlinear/Values.h:89:42: error: typedef name may not be a nested-name-specifier
  185. typedef KeyValueMap::const_iterator::value_type ConstKeyValuePtrPair;
  186. ^
  187. /usr/local/include/gtsam/nonlinear/Values.h:89:42: error: expected ';' at end of member declaration
  188. /usr/local/include/gtsam/nonlinear/Values.h:89:53: error: 'ConstKeyValuePtrPair' does not name a type
  189. typedef KeyValueMap::const_iterator::value_type ConstKeyValuePtrPair;
  190. ^
  191. /usr/local/include/gtsam/nonlinear/Values.h:90:26: error: '::iterator' has not been declared
  192. typedef KeyValueMap::iterator::value_type KeyValuePtrPair;
  193. ^
  194. /usr/local/include/gtsam/nonlinear/Values.h:90:36: error: typedef name may not be a nested-name-specifier
  195. typedef KeyValueMap::iterator::value_type KeyValuePtrPair;
  196. ^
  197. /usr/local/include/gtsam/nonlinear/Values.h:90:36: error: expected ';' at end of member declaration
  198. /usr/local/include/gtsam/nonlinear/Values.h:90:47: error: 'KeyValuePtrPair' does not name a type
  199. typedef KeyValueMap::iterator::value_type KeyValuePtrPair;
  200. ^
  201. /usr/local/include/gtsam/nonlinear/Values.h:102:13: error: 'Key' does not name a type
  202. const Key key; ///< The key
  203. ^
  204. /usr/local/include/gtsam/nonlinear/Values.h:105:24: error: expected ')' before '_key'
  205. KeyValuePair(Key _key, Value& _value) : key(_key), value(_value) {}
  206. ^
  207. /usr/local/include/gtsam/nonlinear/Values.h:110:13: error: 'Key' does not name a type
  208. const Key key; ///< The key
  209. ^
  210. /usr/local/include/gtsam/nonlinear/Values.h:113:29: error: expected ')' before '_key'
  211. ConstKeyValuePair(Key _key, const Value& _value) : key(_key), value(_value) {}
  212. ^
  213. /usr/local/include/gtsam/nonlinear/Values.h:119:62: error: template argument 2 is invalid
  214. boost::function1<KeyValuePair, const KeyValuePtrPair&>, KeyValueMap::iterator> iterator;
  215. ^
  216. /usr/local/include/gtsam/nonlinear/Values.h:119:86: error: template argument 1 is invalid
  217. boost::function1<KeyValuePair, const KeyValuePtrPair&>, KeyValueMap::iterator> iterator;
  218. ^
  219. /usr/local/include/gtsam/nonlinear/Values.h:119:86: error: template argument 2 is invalid
  220. /usr/local/include/gtsam/nonlinear/Values.h:123:72: error: template argument 2 is invalid
  221. boost::function1<ConstKeyValuePair, const ConstKeyValuePtrPair&>, KeyValueMap::const_iterator> const_iterator;
  222. ^
  223. /usr/local/include/gtsam/nonlinear/Values.h:123:102: error: template argument 1 is invalid
  224. boost::function1<ConstKeyValuePair, const ConstKeyValuePtrPair&>, KeyValueMap::const_iterator> const_iterator;
  225. ^
  226. /usr/local/include/gtsam/nonlinear/Values.h:123:102: error: template argument 2 is invalid
  227. /usr/local/include/gtsam/nonlinear/Values.h:127:62: error: template argument 2 is invalid
  228. boost::function1<KeyValuePair, const KeyValuePtrPair&>, KeyValueMap::reverse_iterator> reverse_iterator;
  229. ^
  230. /usr/local/include/gtsam/nonlinear/Values.h:127:94: error: template argument 1 is invalid
  231. boost::function1<KeyValuePair, const KeyValuePtrPair&>, KeyValueMap::reverse_iterator> reverse_iterator;
  232. ^
  233. /usr/local/include/gtsam/nonlinear/Values.h:127:94: error: template argument 2 is invalid
  234. /usr/local/include/gtsam/nonlinear/Values.h:131:72: error: template argument 2 is invalid
  235. boost::function1<ConstKeyValuePair, const ConstKeyValuePtrPair&>, KeyValueMap::const_reverse_iterator> const_reverse_iterator;
  236. ^
  237. /usr/local/include/gtsam/nonlinear/Values.h:131:110: error: template argument 1 is invalid
  238. boost::function1<ConstKeyValuePair, const ConstKeyValuePtrPair&>, KeyValueMap::const_reverse_iterator> const_reverse_iterator;
  239. ^
  240. /usr/local/include/gtsam/nonlinear/Values.h:131:110: error: template argument 2 is invalid
  241. In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:23:0,
  242. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:25,
  243. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  244. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  245. /usr/local/include/gtsam/nonlinear/Values.h:150:18: error: expected ',' or '...' before '&&' token
  246. Values(Values&& other);
  247. ^
  248. /usr/local/include/gtsam/nonlinear/Values.h:150:26: error: invalid constructor; you probably meant 'gtsam::Values (const gtsam::Values&)'
  249. Values(Values&& other);
  250. ^
  251. /usr/local/include/gtsam/nonlinear/Values.h:183:18: error: 'Key' has not been declared
  252. ValueType at(Key j) const;
  253. ^
  254. /usr/local/include/gtsam/nonlinear/Values.h:193:18: error: expected ';' at end of member declaration
  255. const Value& at(Key j) const;
  256. ^
  257. /usr/local/include/gtsam/nonlinear/Values.h:193:21: error: 'const gtsam::Value& gtsam::Values::at' conflicts with a previous declaration
  258. const Value& at(Key j) const;
  259. ^
  260. /usr/local/include/gtsam/nonlinear/Values.h:183:15: note: previous declaration 'ValueType gtsam::Values::at(int) const'
  261. ValueType at(Key j) const;
  262. ^
  263. /usr/local/include/gtsam/nonlinear/Values.h:193:25: error: expected ')' before 'j'
  264. const Value& at(Key j) const;
  265. ^
  266. /usr/local/include/gtsam/nonlinear/Values.h:198:17: error: 'Key' has not been declared
  267. bool exists(Key j) const;
  268. ^
  269. /usr/local/include/gtsam/nonlinear/Values.h:205:46: error: 'Key' has not been declared
  270. boost::optional<const ValueType&> exists(Key j) const;
  271. ^
  272. /usr/local/include/gtsam/nonlinear/Values.h:209:19: error: 'Key' has not been declared
  273. iterator find(Key j) { return boost::make_transform_iterator(values_.find(j), &make_deref_pair); }
  274. ^
  275. /usr/local/include/gtsam/nonlinear/Values.h:213:25: error: 'Key' has not been declared
  276. const_iterator find(Key j) const { return boost::make_transform_iterator(values_.find(j), &make_const_deref_pair); }
  277. ^
  278. /usr/local/include/gtsam/nonlinear/Values.h:216:26: error: 'Key' has not been declared
  279. iterator lower_bound(Key j) { return boost::make_transform_iterator(values_.lower_bound(j), &make_deref_pair); }
  280. ^
  281. /usr/local/include/gtsam/nonlinear/Values.h:219:32: error: 'Key' has not been declared
  282. const_iterator lower_bound(Key j) const { return boost::make_transform_iterator(values_.lower_bound(j), &make_const_deref_pair); }
  283. ^
  284. /usr/local/include/gtsam/nonlinear/Values.h:222:26: error: 'Key' has not been declared
  285. iterator upper_bound(Key j) { return boost::make_transform_iterator(values_.upper_bound(j), &make_deref_pair); }
  286. ^
  287. /usr/local/include/gtsam/nonlinear/Values.h:225:32: error: 'Key' has not been declared
  288. const_iterator upper_bound(Key j) const { return boost::make_transform_iterator(values_.upper_bound(j), &make_const_deref_pair); }
  289. ^
  290. /usr/local/include/gtsam/nonlinear/Values.h:254:17: error: 'Key' has not been declared
  291. void insert(Key j, const Value& val);
  292. ^
  293. /usr/local/include/gtsam/nonlinear/Values.h:263:17: error: 'Key' has not been declared
  294. void insert(Key j, const ValueType& val);
  295. ^
  296. /usr/local/include/gtsam/nonlinear/Values.h:266:23: error: 'Key' has not been declared
  297. void insertDouble(Key j, double c) { insert<double>(j,c); }
  298. ^
  299. /usr/local/include/gtsam/nonlinear/Values.h:272:41: error: 'Key' has not been declared
  300. std::pair<iterator, bool> tryInsert(Key j, const Value& value);
  301. ^
  302. /usr/local/include/gtsam/nonlinear/Values.h:275:17: error: 'Key' has not been declared
  303. void update(Key j, const Value& val);
  304. ^
  305. /usr/local/include/gtsam/nonlinear/Values.h:282:17: error: 'Key' has not been declared
  306. void update(Key j, const T& val);
  307. ^
  308. /usr/local/include/gtsam/nonlinear/Values.h:288:16: error: 'Key' has not been declared
  309. void erase(Key j);
  310. ^
  311. /usr/local/include/gtsam/nonlinear/Values.h:325:39: error: 'Key' was not declared in this scope
  312. filter(const boost::function<bool(Key)>& filterFcn);
  313. ^
  314. /usr/local/include/gtsam/nonlinear/Values.h:325:43: error: template argument 1 is invalid
  315. filter(const boost::function<bool(Key)>& filterFcn);
  316. ^
  317. /usr/local/include/gtsam/nonlinear/Values.h:348:39: error: 'Key' was not declared in this scope
  318. filter(const boost::function<bool(Key)>& filterFcn = &_truePredicate<Key>);
  319. ^
  320. /usr/local/include/gtsam/nonlinear/Values.h:348:43: error: type/value mismatch at argument 1 in template parameter list for 'template<class Signature> class boost::function'
  321. filter(const boost::function<bool(Key)>& filterFcn = &_truePredicate<Key>);
  322. ^
  323. /usr/local/include/gtsam/nonlinear/Values.h:348:43: error: expected a type, got '(bool)(<expression error>)'
  324. /usr/local/include/gtsam/nonlinear/Values.h:364:39: error: 'Key' was not declared in this scope
  325. filter(const boost::function<bool(Key)>& filterFcn) const;
  326. ^
  327. /usr/local/include/gtsam/nonlinear/Values.h:364:43: error: template argument 1 is invalid
  328. filter(const boost::function<bool(Key)>& filterFcn) const;
  329. ^
  330. /usr/local/include/gtsam/nonlinear/Values.h:386:39: error: 'Key' was not declared in this scope
  331. filter(const boost::function<bool(Key)>& filterFcn = &_truePredicate<Key>) const;
  332. ^
  333. /usr/local/include/gtsam/nonlinear/Values.h:386:43: error: type/value mismatch at argument 1 in template parameter list for 'template<class Signature> class boost::function'
  334. filter(const boost::function<bool(Key)>& filterFcn = &_truePredicate<Key>) const;
  335. ^
  336. /usr/local/include/gtsam/nonlinear/Values.h:386:43: error: expected a type, got '(bool)(<expression error>)'
  337. /usr/local/include/gtsam/nonlinear/Values.h:392:57: error: 'Key' was not declared in this scope
  338. static bool filterHelper(const boost::function<bool(Key)> filter, const ConstKeyValuePair& key_value) {
  339. ^
  340. /usr/local/include/gtsam/nonlinear/Values.h:392:61: error: type/value mismatch at argument 1 in template parameter list for 'template<class Signature> class boost::function'
  341. static bool filterHelper(const boost::function<bool(Key)> filter, const ConstKeyValuePair& key_value) {
  342. ^
  343. /usr/local/include/gtsam/nonlinear/Values.h:392:61: error: expected a type, got '(bool)(<expression error>)'
  344. /usr/local/include/gtsam/nonlinear/Values.h:405:85: error: expected unqualified-id before '::' token
  345. static ConstKeyValuePair make_const_deref_pair(const KeyValueMap::const_iterator::value_type& key_value) {
  346. ^
  347. /usr/local/include/gtsam/nonlinear/Values.h:405:85: error: expected ')' before '::' token
  348. /usr/local/include/gtsam/nonlinear/Values.h:405:71: error: expected ';' at end of member declaration
  349. static ConstKeyValuePair make_const_deref_pair(const KeyValueMap::const_iterator::value_type& key_value) {
  350. ^
  351. /usr/local/include/gtsam/nonlinear/Values.h:405:85: error: 'value_type' in namespace '::' does not name a type
  352. static ConstKeyValuePair make_const_deref_pair(const KeyValueMap::const_iterator::value_type& key_value) {
  353. ^
  354. /usr/local/include/gtsam/nonlinear/Values.h:408:68: error: expected unqualified-id before '::' token
  355. static KeyValuePair make_deref_pair(const KeyValueMap::iterator::value_type& key_value) {
  356. ^
  357. /usr/local/include/gtsam/nonlinear/Values.h:408:68: error: expected ')' before '::' token
  358. /usr/local/include/gtsam/nonlinear/Values.h:408:60: error: expected ';' at end of member declaration
  359. static KeyValuePair make_deref_pair(const KeyValueMap::iterator::value_type& key_value) {
  360. ^
  361. /usr/local/include/gtsam/nonlinear/Values.h:408:68: error: 'value_type' in namespace '::' does not name a type
  362. static KeyValuePair make_deref_pair(const KeyValueMap::iterator::value_type& key_value) {
  363. ^
  364. /usr/local/include/gtsam/nonlinear/Values.h:348:74: error: 'Key' was not declared in this scope
  365. filter(const boost::function<bool(Key)>& filterFcn = &_truePredicate<Key>);
  366. ^
  367. /usr/local/include/gtsam/nonlinear/Values.h:386:74: error: 'Key' was not declared in this scope
  368. filter(const boost::function<bool(Key)>& filterFcn = &_truePredicate<Key>) const;
  369. ^
  370. In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:23:0,
  371. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:25,
  372. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  373. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  374. /usr/local/include/gtsam/nonlinear/Values.h: In constructor 'gtsam::Values::ConstKeyValuePair::ConstKeyValuePair(const gtsam::Values::KeyValuePair&)':
  375. /usr/local/include/gtsam/nonlinear/Values.h:114:51: error: class 'gtsam::Values::ConstKeyValuePair' does not have any field named 'key'
  376. ConstKeyValuePair(const KeyValuePair& kv) : key(kv.key), value(kv.value) {}
  377. ^
  378. /usr/local/include/gtsam/nonlinear/Values.h:114:58: error: 'const struct gtsam::Values::KeyValuePair' has no member named 'key'
  379. ConstKeyValuePair(const KeyValuePair& kv) : key(kv.key), value(kv.value) {}
  380. ^
  381. In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:23:0,
  382. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:25,
  383. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  384. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  385. /usr/local/include/gtsam/nonlinear/Values.h: In member function 'gtsam::Values::iterator gtsam::Values::find(int)':
  386. /usr/local/include/gtsam/nonlinear/Values.h:209:74: error: request for member 'find' in '((gtsam::Values*)this)->gtsam::Values::values_', which is of non-class type 'gtsam::Values::KeyValueMap {aka int}'
  387. iterator find(Key j) { return boost::make_transform_iterator(values_.find(j), &make_deref_pair); }
  388. ^
  389. /usr/local/include/gtsam/nonlinear/Values.h: In member function 'gtsam::Values::const_iterator gtsam::Values::find(int) const':
  390. /usr/local/include/gtsam/nonlinear/Values.h:213:86: error: request for member 'find' in '((const gtsam::Values*)this)->gtsam::Values::values_', which is of non-class type 'const KeyValueMap {aka const int}'
  391. const_iterator find(Key j) const { return boost::make_transform_iterator(values_.find(j), &make_const_deref_pair); }
  392. ^
  393. /usr/local/include/gtsam/nonlinear/Values.h: In member function 'gtsam::Values::iterator gtsam::Values::lower_bound(int)':
  394. /usr/local/include/gtsam/nonlinear/Values.h:216:81: error: request for member 'lower_bound' in '((gtsam::Values*)this)->gtsam::Values::values_', which is of non-class type 'gtsam::Values::KeyValueMap {aka int}'
  395. iterator lower_bound(Key j) { return boost::make_transform_iterator(values_.lower_bound(j), &make_deref_pair); }
  396. ^
  397. /usr/local/include/gtsam/nonlinear/Values.h: In member function 'gtsam::Values::const_iterator gtsam::Values::lower_bound(int) const':
  398. /usr/local/include/gtsam/nonlinear/Values.h:219:93: error: request for member 'lower_bound' in '((const gtsam::Values*)this)->gtsam::Values::values_', which is of non-class type 'const KeyValueMap {aka const int}'
  399. const_iterator lower_bound(Key j) const { return boost::make_transform_iterator(values_.lower_bound(j), &make_const_deref_pair); }
  400. ^
  401. /usr/local/include/gtsam/nonlinear/Values.h: In member function 'gtsam::Values::iterator gtsam::Values::upper_bound(int)':
  402. /usr/local/include/gtsam/nonlinear/Values.h:222:81: error: request for member 'upper_bound' in '((gtsam::Values*)this)->gtsam::Values::values_', which is of non-class type 'gtsam::Values::KeyValueMap {aka int}'
  403. iterator upper_bound(Key j) { return boost::make_transform_iterator(values_.upper_bound(j), &make_deref_pair); }
  404. ^
  405. /usr/local/include/gtsam/nonlinear/Values.h: In member function 'gtsam::Values::const_iterator gtsam::Values::upper_bound(int) const':
  406. /usr/local/include/gtsam/nonlinear/Values.h:225:93: error: request for member 'upper_bound' in '((const gtsam::Values*)this)->gtsam::Values::values_', which is of non-class type 'const KeyValueMap {aka const int}'
  407. const_iterator upper_bound(Key j) const { return boost::make_transform_iterator(values_.upper_bound(j), &make_const_deref_pair); }
  408. ^
  409. /usr/local/include/gtsam/nonlinear/Values.h: In member function 'std::size_t gtsam::Values::size() const':
  410. /usr/local/include/gtsam/nonlinear/Values.h:228:42: error: request for member 'size' in '((const gtsam::Values*)this)->gtsam::Values::values_', which is of non-class type 'const KeyValueMap {aka const int}'
  411. size_t size() const { return values_.size(); }
  412. ^
  413. /usr/local/include/gtsam/nonlinear/Values.h: In member function 'bool gtsam::Values::empty() const':
  414. /usr/local/include/gtsam/nonlinear/Values.h:231:41: error: request for member 'empty' in '((const gtsam::Values*)this)->gtsam::Values::values_', which is of non-class type 'const KeyValueMap {aka const int}'
  415. bool empty() const { return values_.empty(); }
  416. ^
  417. /usr/local/include/gtsam/nonlinear/Values.h: In member function 'gtsam::Values::const_iterator gtsam::Values::begin() const':
  418. /usr/local/include/gtsam/nonlinear/Values.h:233:82: error: request for member 'begin' in '((const gtsam::Values*)this)->gtsam::Values::values_', which is of non-class type 'const KeyValueMap {aka const int}'
  419. const_iterator begin() const { return boost::make_transform_iterator(values_.begin(), &make_const_deref_pair); }
  420. ^
  421. /usr/local/include/gtsam/nonlinear/Values.h: In member function 'gtsam::Values::const_iterator gtsam::Values::end() const':
  422. /usr/local/include/gtsam/nonlinear/Values.h:234:80: error: request for member 'end' in '((const gtsam::Values*)this)->gtsam::Values::values_', which is of non-class type 'const KeyValueMap {aka const int}'
  423. const_iterator end() const { return boost::make_transform_iterator(values_.end(), &make_const_deref_pair); }
  424. ^
  425. /usr/local/include/gtsam/nonlinear/Values.h: In member function 'gtsam::Values::iterator gtsam::Values::begin()':
  426. /usr/local/include/gtsam/nonlinear/Values.h:235:70: error: request for member 'begin' in '((gtsam::Values*)this)->gtsam::Values::values_', which is of non-class type 'gtsam::Values::KeyValueMap {aka int}'
  427. iterator begin() { return boost::make_transform_iterator(values_.begin(), &make_deref_pair); }
  428. ^
  429. /usr/local/include/gtsam/nonlinear/Values.h: In member function 'gtsam::Values::iterator gtsam::Values::end()':
  430. /usr/local/include/gtsam/nonlinear/Values.h:236:68: error: request for member 'end' in '((gtsam::Values*)this)->gtsam::Values::values_', which is of non-class type 'gtsam::Values::KeyValueMap {aka int}'
  431. iterator end() { return boost::make_transform_iterator(values_.end(), &make_deref_pair); }
  432. ^
  433. /usr/local/include/gtsam/nonlinear/Values.h: In member function 'gtsam::Values::const_reverse_iterator gtsam::Values::rbegin() const':
  434. /usr/local/include/gtsam/nonlinear/Values.h:237:91: error: request for member 'rbegin' in '((const gtsam::Values*)this)->gtsam::Values::values_', which is of non-class type 'const KeyValueMap {aka const int}'
  435. const_reverse_iterator rbegin() const { return boost::make_transform_iterator(values_.rbegin(), &make_const_deref_pair); }
  436. ^
  437. /usr/local/include/gtsam/nonlinear/Values.h: In member function 'gtsam::Values::const_reverse_iterator gtsam::Values::rend() const':
  438. /usr/local/include/gtsam/nonlinear/Values.h:238:89: error: request for member 'rend' in '((const gtsam::Values*)this)->gtsam::Values::values_', which is of non-class type 'const KeyValueMap {aka const int}'
  439. const_reverse_iterator rend() const { return boost::make_transform_iterator(values_.rend(), &make_const_deref_pair); }
  440. ^
  441. /usr/local/include/gtsam/nonlinear/Values.h: In member function 'gtsam::Values::reverse_iterator gtsam::Values::rbegin()':
  442. /usr/local/include/gtsam/nonlinear/Values.h:239:79: error: request for member 'rbegin' in '((gtsam::Values*)this)->gtsam::Values::values_', which is of non-class type 'gtsam::Values::KeyValueMap {aka int}'
  443. reverse_iterator rbegin() { return boost::make_transform_iterator(values_.rbegin(), &make_deref_pair); }
  444. ^
  445. /usr/local/include/gtsam/nonlinear/Values.h: In member function 'gtsam::Values::reverse_iterator gtsam::Values::rend()':
  446. /usr/local/include/gtsam/nonlinear/Values.h:240:77: error: request for member 'rend' in '((gtsam::Values*)this)->gtsam::Values::values_', which is of non-class type 'gtsam::Values::KeyValueMap {aka int}'
  447. reverse_iterator rend() { return boost::make_transform_iterator(values_.rend(), &make_deref_pair); }
  448. ^
  449. /usr/local/include/gtsam/nonlinear/Values.h: In member function 'void gtsam::Values::swap(gtsam::Values&)':
  450. /usr/local/include/gtsam/nonlinear/Values.h:300:40: error: request for member 'swap' in '((gtsam::Values*)this)->gtsam::Values::values_', which is of non-class type 'gtsam::Values::KeyValueMap {aka int}'
  451. void swap(Values& other) { values_.swap(other.values_); }
  452. ^
  453. /usr/local/include/gtsam/nonlinear/Values.h: In member function 'void gtsam::Values::clear()':
  454. /usr/local/include/gtsam/nonlinear/Values.h:303:28: error: request for member 'clear' in '((gtsam::Values*)this)->gtsam::Values::values_', which is of non-class type 'gtsam::Values::KeyValueMap {aka int}'
  455. void clear() { values_.clear(); }
  456. ^
  457. /usr/local/include/gtsam/nonlinear/Values.h: In static member function 'static bool gtsam::Values::filterHelper(int, const gtsam::Values::ConstKeyValuePair&)':
  458. /usr/local/include/gtsam/nonlinear/Values.h:395:31: error: 'const struct gtsam::Values::ConstKeyValuePair' has no member named 'key'
  459. return filter(key_value.key) && (dynamic_cast<const GenericValue<ValueType>*>(&key_value.value));
  460. ^
  461. /usr/local/include/gtsam/nonlinear/Values.h:395:34: error: expression cannot be used as a function
  462. return filter(key_value.key) && (dynamic_cast<const GenericValue<ValueType>*>(&key_value.value));
  463. ^
  464. /usr/local/include/gtsam/nonlinear/Values.h: At global scope:
  465. /usr/local/include/gtsam/nonlinear/Values.h:416:11: error: 'Key' does not name a type
  466. const Key key_; ///< The key that already existed
  467. ^
  468. /usr/local/include/gtsam/nonlinear/Values.h:423:32: error: expected ')' before 'key'
  469. ValuesKeyAlreadyExists(Key key) throw() :
  470. ^
  471. /usr/local/include/gtsam/nonlinear/Values.h:429:5: error: 'Key' does not name a type
  472. Key key() const throw() { return key_; }
  473. ^
  474. /usr/local/include/gtsam/nonlinear/Values.h:439:11: error: 'Key' does not name a type
  475. const Key key_; ///< The key that does not exist
  476. ^
  477. /usr/local/include/gtsam/nonlinear/Values.h:446:50: error: 'Key' has not been declared
  478. ValuesKeyDoesNotExist(const char* operation, Key key) throw() :
  479. ^
  480. /usr/local/include/gtsam/nonlinear/Values.h:452:5: error: 'Key' does not name a type
  481. Key key() const throw() { return key_; }
  482. ^
  483. /usr/local/include/gtsam/nonlinear/Values.h: In constructor 'gtsam::ValuesKeyDoesNotExist::ValuesKeyDoesNotExist(const char*, int)':
  484. /usr/local/include/gtsam/nonlinear/Values.h:447:30: error: class 'gtsam::ValuesKeyDoesNotExist' does not have any field named 'key_'
  485. operation_(operation), key_(key) {}
  486. ^
  487. /usr/local/include/gtsam/nonlinear/Values.h: At global scope:
  488. /usr/local/include/gtsam/nonlinear/Values.h:461:11: error: 'Key' does not name a type
  489. const Key key_; ///< The key requested
  490. ^
  491. /usr/local/include/gtsam/nonlinear/Values.h:470:29: error: expected ')' before 'key'
  492. ValuesIncorrectType(Key key,
  493. ^
  494. /usr/local/include/gtsam/nonlinear/Values.h:477:5: error: 'Key' does not name a type
  495. Key key() const throw() { return key_; }
  496. ^
  497. In file included from /usr/local/include/gtsam/nonlinear/Values.h:532:0,
  498. from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:23,
  499. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:25,
  500. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  501. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  502. /usr/local/include/gtsam/nonlinear/Values-inl.h:38:11: error: 'Key' does not name a type
  503. const Key key; ///< The key
  504. ^
  505. /usr/local/include/gtsam/nonlinear/Values-inl.h:41:29: error: expected ')' before '_key'
  506. _ValuesKeyValuePair(Key _key, ValueType& _value) : key(_key), value(_value) {}
  507. ^
  508. /usr/local/include/gtsam/nonlinear/Values-inl.h:47:11: error: 'Key' does not name a type
  509. const Key key; ///< The key
  510. ^
  511. /usr/local/include/gtsam/nonlinear/Values-inl.h:50:34: error: expected ')' before '_key'
  512. _ValuesConstKeyValuePair(Key _key, const ValueType& _value) :
  513. ^
  514. /usr/local/include/gtsam/nonlinear/Values-inl.h: In constructor 'gtsam::_ValuesConstKeyValuePair<ValueType>::_ValuesConstKeyValuePair(const gtsam::_ValuesKeyValuePair<ValueType>&)':
  515. /usr/local/include/gtsam/nonlinear/Values-inl.h:54:9: error: class 'gtsam::_ValuesConstKeyValuePair<ValueType>' does not have any field named 'key'
  516. key(rhs.key), value(rhs.value) {
  517. ^
  518. /usr/local/include/gtsam/nonlinear/Values-inl.h: At global scope:
  519. /usr/local/include/gtsam/nonlinear/Values-inl.h:195:14: error: 'Key' was not declared in this scope
  520. FastList<Key> keys() const {
  521. ^
  522. /usr/local/include/gtsam/nonlinear/Values-inl.h:195:17: error: template argument 1 is invalid
  523. FastList<Key> keys() const {
  524. ^
  525. /usr/local/include/gtsam/nonlinear/Values-inl.h: In member function 'int gtsam::Values::ConstFiltered<ValueType>::keys() const':
  526. /usr/local/include/gtsam/nonlinear/Values-inl.h:196:16: error: 'Key' was not declared in this scope
  527. FastList<Key> result;
  528. ^
  529. /usr/local/include/gtsam/nonlinear/Values-inl.h:196:19: error: template argument 1 is invalid
  530. FastList<Key> result;
  531. ^
  532. /usr/local/include/gtsam/nonlinear/Values-inl.h:196:27: error: invalid type in declaration before ';' token
  533. FastList<Key> result;
  534. ^
  535. /usr/local/include/gtsam/nonlinear/Values-inl.h:198:16: error: request for member 'push_back' in 'result', which is of non-class type 'int'
  536. result.push_back(it->key);
  537. ^
  538. /usr/local/include/gtsam/nonlinear/Values-inl.h: In constructor 'gtsam::Values::Values(const gtsam::Values::Filtered<ValueType>&)':
  539. /usr/local/include/gtsam/nonlinear/Values-inl.h:221:70: error: range-based 'for' loops are not allowed in C++98 mode
  540. for(const typename Filtered<ValueType>::KeyValuePair& key_value: view) {
  541. ^
  542. /usr/local/include/gtsam/nonlinear/Values-inl.h:222:7: error: 'Key' was not declared in this scope
  543. Key key = key_value.key;
  544. ^
  545. /usr/local/include/gtsam/nonlinear/Values-inl.h:222:11: error: expected ';' before 'key'
  546. Key key = key_value.key;
  547. ^
  548. /usr/local/include/gtsam/nonlinear/Values-inl.h:223:14: error: 'key' was not declared in this scope
  549. insert(key, static_cast<const ValueType&>(key_value.value));
  550. ^
  551. /usr/local/include/gtsam/nonlinear/Values-inl.h: In constructor 'gtsam::Values::Values(const gtsam::Values::ConstFiltered<ValueType>&)':
  552. /usr/local/include/gtsam/nonlinear/Values-inl.h:230:75: error: range-based 'for' loops are not allowed in C++98 mode
  553. for(const typename ConstFiltered<ValueType>::KeyValuePair& key_value: view) {
  554. ^
  555. /usr/local/include/gtsam/nonlinear/Values-inl.h:231:7: error: 'Key' was not declared in this scope
  556. Key key = key_value.key;
  557. ^
  558. /usr/local/include/gtsam/nonlinear/Values-inl.h:231:11: error: expected ';' before 'key'
  559. Key key = key_value.key;
  560. ^
  561. /usr/local/include/gtsam/nonlinear/Values-inl.h:232:14: error: 'key' was not declared in this scope
  562. insert(key, static_cast<const ValueType&>(key_value.value));
  563. ^
  564. /usr/local/include/gtsam/nonlinear/Values-inl.h: At global scope:
  565. /usr/local/include/gtsam/nonlinear/Values-inl.h:238:52: error: 'Key' was not declared in this scope
  566. inline Values::filter(const boost::function<bool(Key)>& filterFcn) {
  567. ^
  568. /usr/local/include/gtsam/nonlinear/Values-inl.h:238:56: error: template argument 1 is invalid
  569. inline Values::filter(const boost::function<bool(Key)>& filterFcn) {
  570. ^
  571. In file included from /usr/include/c++/4.8/bits/stl_algobase.h:65:0,
  572. from /usr/include/c++/4.8/bits/char_traits.h:39,
  573. from /usr/include/c++/4.8/ios:40,
  574. from /usr/include/c++/4.8/istream:38,
  575. from /usr/include/c++/4.8/sstream:38,
  576. from /usr/include/c++/4.8/complex:45,
  577. from /usr/local/include/gtsam/3rdparty/Eigen/Eigen/Core:28,
  578. from /usr/local/include/gtsam/3rdparty/Eigen/Eigen/Dense:1,
  579. from /usr/local/include/gtsam/base/OptionalJacobian.h:22,
  580. from /usr/local/include/gtsam/base/Matrix.h:25,
  581. from /usr/local/include/gtsam/base/Manifold.h:22,
  582. from /usr/local/include/gtsam/base/Lie.h:25,
  583. from /usr/local/include/gtsam/base/VectorSpace.h:11,
  584. from /usr/local/include/gtsam/geometry/Point2.h:20,
  585. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:24,
  586. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  587. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  588. /usr/include/c++/4.8/bits/stl_iterator_base_types.h: In instantiation of 'struct std::iterator_traits<int>':
  589. /usr/include/boost/detail/iterator.hpp:81:8: required from 'struct boost::detail::iterator_traits<int>'
  590. /usr/include/boost/iterator/iterator_categories.hpp:159:8: required from 'struct boost::iterator_traversal<int>'
  591. /usr/include/boost/iterator/filter_iterator.hpp:39:11: required from 'struct boost::detail::filter_iterator_base<boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>, int>'
  592. /usr/include/boost/iterator/filter_iterator.hpp:44:9: required from 'class boost::filter_iterator<boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>, int>'
  593. /usr/include/c++/4.8/bits/stl_iterator_base_types.h:165:53: required from 'struct std::iterator_traits<boost::filter_iterator<boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>, int> >'
  594. /usr/include/boost/iterator/transform_iterator.hpp:50:17: required from 'struct boost::detail::transform_iterator_base<gtsam::_ValuesKeyValuePair<gtsam::Value> (*)(gtsam::Values::KeyValuePair), boost::filter_iterator<boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>, int>, boost::use_default, boost::use_default>'
  595. /usr/include/boost/iterator/transform_iterator.hpp:74:9: required from 'class boost::transform_iterator<gtsam::_ValuesKeyValuePair<gtsam::Value> (*)(gtsam::Values::KeyValuePair), boost::filter_iterator<boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>, int>, boost::use_default, boost::use_default>'
  596. /usr/local/include/gtsam/nonlinear/Values-inl.h:160:14: required from 'class gtsam::Values::Filtered<gtsam::Value>'
  597. /usr/local/include/gtsam/nonlinear/Values-inl.h:238:68: required from here
  598. /usr/include/c++/4.8/bits/stl_iterator_base_types.h:165:53: error: 'int' is not a class, struct, or union type
  599. typedef typename _Iterator::iterator_category iterator_category;
  600. ^
  601. /usr/include/c++/4.8/bits/stl_iterator_base_types.h:166:53: error: 'int' is not a class, struct, or union type
  602. typedef typename _Iterator::value_type value_type;
  603. ^
  604. /usr/include/c++/4.8/bits/stl_iterator_base_types.h:167:53: error: 'int' is not a class, struct, or union type
  605. typedef typename _Iterator::difference_type difference_type;
  606. ^
  607. /usr/include/c++/4.8/bits/stl_iterator_base_types.h:168:53: error: 'int' is not a class, struct, or union type
  608. typedef typename _Iterator::pointer pointer;
  609. ^
  610. /usr/include/c++/4.8/bits/stl_iterator_base_types.h:169:53: error: 'int' is not a class, struct, or union type
  611. typedef typename _Iterator::reference reference;
  612. ^
  613. In file included from /usr/local/include/gtsam/nonlinear/Values.h:31:0,
  614. from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:23,
  615. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:25,
  616. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  617. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  618. /usr/include/boost/iterator/filter_iterator.hpp: In instantiation of 'struct boost::detail::filter_iterator_base<boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>, int>':
  619. /usr/include/boost/iterator/filter_iterator.hpp:44:9: required from 'class boost::filter_iterator<boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>, int>'
  620. /usr/include/c++/4.8/bits/stl_iterator_base_types.h:165:53: required from 'struct std::iterator_traits<boost::filter_iterator<boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>, int> >'
  621. /usr/include/boost/iterator/transform_iterator.hpp:50:17: required from 'struct boost::detail::transform_iterator_base<gtsam::_ValuesKeyValuePair<gtsam::Value> (*)(gtsam::Values::KeyValuePair), boost::filter_iterator<boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>, int>, boost::use_default, boost::use_default>'
  622. /usr/include/boost/iterator/transform_iterator.hpp:74:9: required from 'class boost::transform_iterator<gtsam::_ValuesKeyValuePair<gtsam::Value> (*)(gtsam::Values::KeyValuePair), boost::filter_iterator<boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>, int>, boost::use_default, boost::use_default>'
  623. /usr/local/include/gtsam/nonlinear/Values-inl.h:160:14: required from 'class gtsam::Values::Filtered<gtsam::Value>'
  624. /usr/local/include/gtsam/nonlinear/Values-inl.h:238:68: required from here
  625. /usr/include/boost/iterator/filter_iterator.hpp:39:11: error: no type named 'type' in 'struct boost::iterator_traversal<int>'
  626. > type;
  627. ^
  628. In file included from /usr/include/c++/4.8/bits/stl_algobase.h:65:0,
  629. from /usr/include/c++/4.8/bits/char_traits.h:39,
  630. from /usr/include/c++/4.8/ios:40,
  631. from /usr/include/c++/4.8/istream:38,
  632. from /usr/include/c++/4.8/sstream:38,
  633. from /usr/include/c++/4.8/complex:45,
  634. from /usr/local/include/gtsam/3rdparty/Eigen/Eigen/Core:28,
  635. from /usr/local/include/gtsam/3rdparty/Eigen/Eigen/Dense:1,
  636. from /usr/local/include/gtsam/base/OptionalJacobian.h:22,
  637. from /usr/local/include/gtsam/base/Matrix.h:25,
  638. from /usr/local/include/gtsam/base/Manifold.h:22,
  639. from /usr/local/include/gtsam/base/Lie.h:25,
  640. from /usr/local/include/gtsam/base/VectorSpace.h:11,
  641. from /usr/local/include/gtsam/geometry/Point2.h:20,
  642. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:24,
  643. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  644. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  645. /usr/include/c++/4.8/bits/stl_iterator_base_types.h: In instantiation of 'struct std::iterator_traits<boost::filter_iterator<boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>, int> >':
  646. /usr/include/boost/iterator/transform_iterator.hpp:50:17: required from 'struct boost::detail::transform_iterator_base<gtsam::_ValuesKeyValuePair<gtsam::Value> (*)(gtsam::Values::KeyValuePair), boost::filter_iterator<boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>, int>, boost::use_default, boost::use_default>'
  647. /usr/include/boost/iterator/transform_iterator.hpp:74:9: required from 'class boost::transform_iterator<gtsam::_ValuesKeyValuePair<gtsam::Value> (*)(gtsam::Values::KeyValuePair), boost::filter_iterator<boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>, int>, boost::use_default, boost::use_default>'
  648. /usr/local/include/gtsam/nonlinear/Values-inl.h:160:14: required from 'class gtsam::Values::Filtered<gtsam::Value>'
  649. /usr/local/include/gtsam/nonlinear/Values-inl.h:238:68: required from here
  650. /usr/include/c++/4.8/bits/stl_iterator_base_types.h:165:53: error: no type named 'iterator_category' in 'class boost::filter_iterator<boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>, int>'
  651. typedef typename _Iterator::iterator_category iterator_category;
  652. ^
  653. /usr/include/c++/4.8/bits/stl_iterator_base_types.h:166:53: error: no type named 'value_type' in 'class boost::filter_iterator<boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>, int>'
  654. typedef typename _Iterator::value_type value_type;
  655. ^
  656. /usr/include/c++/4.8/bits/stl_iterator_base_types.h:167:53: error: no type named 'difference_type' in 'class boost::filter_iterator<boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>, int>'
  657. typedef typename _Iterator::difference_type difference_type;
  658. ^
  659. /usr/include/c++/4.8/bits/stl_iterator_base_types.h:168:53: error: no type named 'pointer' in 'class boost::filter_iterator<boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>, int>'
  660. typedef typename _Iterator::pointer pointer;
  661. ^
  662. /usr/include/c++/4.8/bits/stl_iterator_base_types.h:169:53: error: no type named 'reference' in 'class boost::filter_iterator<boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>, int>'
  663. typedef typename _Iterator::reference reference;
  664. ^
  665. In file included from /usr/local/include/gtsam/nonlinear/Values.h:532:0,
  666. from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:23,
  667. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:25,
  668. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  669. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  670. /usr/local/include/gtsam/nonlinear/Values-inl.h:245:45: error: 'Key' was not declared in this scope
  671. Values::filter(const boost::function<bool(Key)>& filterFcn) {
  672. ^
  673. /usr/local/include/gtsam/nonlinear/Values-inl.h:245:49: error: type/value mismatch at argument 1 in template parameter list for 'template<class Signature> class boost::function'
  674. Values::filter(const boost::function<bool(Key)>& filterFcn) {
  675. ^
  676. /usr/local/include/gtsam/nonlinear/Values-inl.h:245:49: error: expected a type, got '(bool)(<expression error>)'
  677. /usr/local/include/gtsam/nonlinear/Values-inl.h:251:52: error: 'Key' was not declared in this scope
  678. inline Values::filter(const boost::function<bool(Key)>& filterFcn) const {
  679. ^
  680. /usr/local/include/gtsam/nonlinear/Values-inl.h:251:56: error: template argument 1 is invalid
  681. inline Values::filter(const boost::function<bool(Key)>& filterFcn) const {
  682. ^
  683. /usr/local/include/gtsam/nonlinear/Values-inl.h:258:45: error: 'Key' was not declared in this scope
  684. Values::filter(const boost::function<bool(Key)>& filterFcn) const {
  685. ^
  686. /usr/local/include/gtsam/nonlinear/Values-inl.h:258:49: error: type/value mismatch at argument 1 in template parameter list for 'template<class Signature> class boost::function'
  687. Values::filter(const boost::function<bool(Key)>& filterFcn) const {
  688. ^
  689. /usr/local/include/gtsam/nonlinear/Values-inl.h:258:49: error: expected a type, got '(bool)(<expression error>)'
  690. /usr/local/include/gtsam/nonlinear/Values-inl.h:264:71: error: 'Key' was not declared in this scope
  691. inline bool Values::filterHelper<Value>(const boost::function<bool(Key)> filter,
  692. ^
  693. /usr/local/include/gtsam/nonlinear/Values-inl.h:264:75: error: template argument 1 is invalid
  694. inline bool Values::filterHelper<Value>(const boost::function<bool(Key)> filter,
  695. ^
  696. /usr/local/include/gtsam/nonlinear/Values-inl.h: In static member function 'static bool gtsam::Values::filterHelper(int, const gtsam::Values::ConstKeyValuePair&) [with ValueType = gtsam::Value]':
  697. /usr/local/include/gtsam/nonlinear/Values-inl.h:267:30: error: 'const struct gtsam::Values::ConstKeyValuePair' has no member named 'key'
  698. return filter(key_value.key);
  699. ^
  700. /usr/local/include/gtsam/nonlinear/Values-inl.h:267:33: error: 'filter' cannot be used as a function
  701. return filter(key_value.key);
  702. ^
  703. /usr/local/include/gtsam/nonlinear/Values-inl.h: At global scope:
  704. /usr/local/include/gtsam/nonlinear/Values-inl.h:278:27: error: 'Key' has not been declared
  705. ValueType operator()(Key j, const Value* const pointer) {
  706. ^
  707. /usr/local/include/gtsam/nonlinear/Values-inl.h:294:45: error: 'Key' has not been declared
  708. Eigen::Matrix<double, M, N> operator()(Key j, const Value* const pointer) {
  709. ^
  710. /usr/local/include/gtsam/nonlinear/Values-inl.h: In member function 'Eigen::Matrix<double, Rows, Cols> gtsam::internal::handle_matrix<Eigen::Matrix<double, Rows, Cols>, true>::operator()(int, const gtsam::Value*)':
  711. /usr/local/include/gtsam/nonlinear/Values-inl.h:297:77: error: '&' cannot appear in a constant-expression
  712. return dynamic_cast<const GenericValue<Eigen::Matrix<double, M, N>>&>(*pointer).value();
  713. ^
  714. /usr/local/include/gtsam/nonlinear/Values-inl.h:297:78: error: template argument 3 is invalid
  715. return dynamic_cast<const GenericValue<Eigen::Matrix<double, M, N>>&>(*pointer).value();
  716. ^
  717. /usr/local/include/gtsam/nonlinear/Values-inl.h:297:78: error: template argument 4 is invalid
  718. /usr/local/include/gtsam/nonlinear/Values-inl.h:297:78: error: template argument 6 is invalid
  719. /usr/local/include/gtsam/nonlinear/Values-inl.h:297:81: error: 'pointer' cannot appear in a constant-expression
  720. return dynamic_cast<const GenericValue<Eigen::Matrix<double, M, N>>&>(*pointer).value();
  721. ^
  722. /usr/local/include/gtsam/nonlinear/Values-inl.h:297:81: error: '*' cannot appear in a constant-expression
  723. /usr/local/include/gtsam/nonlinear/Values-inl.h:297:90: error: '.' cannot appear in a constant-expression
  724. return dynamic_cast<const GenericValue<Eigen::Matrix<double, M, N>>&>(*pointer).value();
  725. ^
  726. /usr/local/include/gtsam/nonlinear/Values-inl.h:297:96: error: a function call cannot appear in a constant-expression
  727. return dynamic_cast<const GenericValue<Eigen::Matrix<double, M, N>>&>(*pointer).value();
  728. ^
  729. /usr/local/include/gtsam/nonlinear/Values-inl.h:297:96: error: template argument 1 is invalid
  730. /usr/local/include/gtsam/nonlinear/Values-inl.h:297:97: error: expected '>' before ';' token
  731. return dynamic_cast<const GenericValue<Eigen::Matrix<double, M, N>>&>(*pointer).value();
  732. ^
  733. /usr/local/include/gtsam/nonlinear/Values-inl.h:297:97: error: expected '(' before ';' token
  734. /usr/local/include/gtsam/nonlinear/Values-inl.h:297:97: error: expected primary-expression before ';' token
  735. /usr/local/include/gtsam/nonlinear/Values-inl.h:297:97: error: expected ')' before ';' token
  736. /usr/local/include/gtsam/nonlinear/Values-inl.h: At global scope:
  737. /usr/local/include/gtsam/nonlinear/Values-inl.h:308:45: error: 'Key' has not been declared
  738. Eigen::Matrix<double, M, N> operator()(Key j, const Value* const pointer) {
  739. ^
  740. /usr/local/include/gtsam/nonlinear/Values-inl.h: In member function 'Eigen::Matrix<double, Rows, Cols> gtsam::internal::handle_matrix<Eigen::Matrix<double, Rows, Cols>, false>::operator()(int, const gtsam::Value*)':
  741. /usr/local/include/gtsam/nonlinear/Values-inl.h:311:77: error: '&' cannot appear in a constant-expression
  742. return dynamic_cast<const GenericValue<Eigen::Matrix<double, M, N>>&>(*pointer).value();
  743. ^
  744. /usr/local/include/gtsam/nonlinear/Values-inl.h:311:78: error: template argument 3 is invalid
  745. return dynamic_cast<const GenericValue<Eigen::Matrix<double, M, N>>&>(*pointer).value();
  746. ^
  747. /usr/local/include/gtsam/nonlinear/Values-inl.h:311:78: error: template argument 4 is invalid
  748. /usr/local/include/gtsam/nonlinear/Values-inl.h:311:78: error: template argument 6 is invalid
  749. /usr/local/include/gtsam/nonlinear/Values-inl.h:311:81: error: 'pointer' cannot appear in a constant-expression
  750. return dynamic_cast<const GenericValue<Eigen::Matrix<double, M, N>>&>(*pointer).value();
  751. ^
  752. /usr/local/include/gtsam/nonlinear/Values-inl.h:311:81: error: '*' cannot appear in a constant-expression
  753. /usr/local/include/gtsam/nonlinear/Values-inl.h:311:90: error: '.' cannot appear in a constant-expression
  754. return dynamic_cast<const GenericValue<Eigen::Matrix<double, M, N>>&>(*pointer).value();
  755. ^
  756. /usr/local/include/gtsam/nonlinear/Values-inl.h:311:96: error: a function call cannot appear in a constant-expression
  757. return dynamic_cast<const GenericValue<Eigen::Matrix<double, M, N>>&>(*pointer).value();
  758. ^
  759. /usr/local/include/gtsam/nonlinear/Values-inl.h:311:96: error: template argument 1 is invalid
  760. /usr/local/include/gtsam/nonlinear/Values-inl.h:311:97: error: expected '>' before ';' token
  761. return dynamic_cast<const GenericValue<Eigen::Matrix<double, M, N>>&>(*pointer).value();
  762. ^
  763. /usr/local/include/gtsam/nonlinear/Values-inl.h:311:97: error: expected '(' before ';' token
  764. /usr/local/include/gtsam/nonlinear/Values-inl.h:311:97: error: expected primary-expression before ';' token
  765. /usr/local/include/gtsam/nonlinear/Values-inl.h:311:97: error: expected ')' before ';' token
  766. /usr/local/include/gtsam/nonlinear/Values-inl.h: At global scope:
  767. /usr/local/include/gtsam/nonlinear/Values-inl.h:332:44: error: template argument 3 is invalid
  768. struct handle<Eigen::Matrix<double, M, N>> {
  769. ^
  770. /usr/local/include/gtsam/nonlinear/Values-inl.h:332:44: error: template argument 4 is invalid
  771. /usr/local/include/gtsam/nonlinear/Values-inl.h:332:44: error: template argument 6 is invalid
  772. /usr/local/include/gtsam/nonlinear/Values-inl.h:332:25: error: template argument 1 is invalid
  773. struct handle<Eigen::Matrix<double, M, N>> {
  774. ^
  775. /usr/local/include/gtsam/nonlinear/Values-inl.h:343:25: error: 'ValueType gtsam::Values::at' is not a static member of 'class gtsam::Values'
  776. ValueType Values::at(Key j) const {
  777. ^
  778. /usr/local/include/gtsam/nonlinear/Values-inl.h:343:25: error: template definition of non-template 'ValueType gtsam::Values::at'
  779. /usr/local/include/gtsam/nonlinear/Values-inl.h:343:25: error: 'Key' was not declared in this scope
  780. /usr/local/include/gtsam/nonlinear/Values-inl.h:357:52: error: 'boost::optional<const ValueType&> gtsam::Values::exists' is not a static member of 'class gtsam::Values'
  781. boost::optional<const ValueType&> Values::exists(Key j) const {
  782. ^
  783. /usr/local/include/gtsam/nonlinear/Values-inl.h:357:52: error: template definition of non-template 'boost::optional<const ValueType&> gtsam::Values::exists'
  784. /usr/local/include/gtsam/nonlinear/Values-inl.h:357:52: error: 'Key' was not declared in this scope
  785. /usr/local/include/gtsam/nonlinear/Values-inl.h:380:23: error: variable or field 'insert' declared void
  786. void Values::insert(Key j, const ValueType& val) {
  787. ^
  788. /usr/local/include/gtsam/nonlinear/Values-inl.h:380:23: error: 'Key' was not declared in this scope
  789. /usr/local/include/gtsam/nonlinear/Values-inl.h:380:30: error: expected primary-expression before 'const'
  790. void Values::insert(Key j, const ValueType& val) {
  791. ^
  792. /usr/local/include/gtsam/nonlinear/Values-inl.h:386:23: error: variable or field 'update' declared void
  793. void Values::update(Key j, const ValueType& val) {
  794. ^
  795. /usr/local/include/gtsam/nonlinear/Values-inl.h:386:23: error: 'Key' was not declared in this scope
  796. /usr/local/include/gtsam/nonlinear/Values-inl.h:386:30: error: expected primary-expression before 'const'
  797. void Values::update(Key j, const ValueType& val) {
  798. ^
  799. In file included from /usr/local/include/gtsam/linear/GaussianFactor.h:23:0,
  800. from /usr/local/include/gtsam/linear/JacobianFactor.h:21,
  801. from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:25,
  802. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:25,
  803. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  804. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  805. /usr/local/include/gtsam/inference/Factor.h:61:24: error: 'Key' was not declared in this scope
  806. typedef FastVector<Key>::iterator iterator;
  807. ^
  808. /usr/local/include/gtsam/inference/Factor.h:61:27: error: template argument 1 is invalid
  809. typedef FastVector<Key>::iterator iterator;
  810. ^
  811. /usr/local/include/gtsam/inference/Factor.h:61:30: error: expected ';' at end of member declaration
  812. typedef FastVector<Key>::iterator iterator;
  813. ^
  814. /usr/local/include/gtsam/inference/Factor.h:61:39: error: declaration does not declare anything [-fpermissive]
  815. typedef FastVector<Key>::iterator iterator;
  816. ^
  817. /usr/local/include/gtsam/inference/Factor.h:64:24: error: 'Key' was not declared in this scope
  818. typedef FastVector<Key>::const_iterator const_iterator;
  819. ^
  820. /usr/local/include/gtsam/inference/Factor.h:64:27: error: template argument 1 is invalid
  821. typedef FastVector<Key>::const_iterator const_iterator;
  822. ^
  823. /usr/local/include/gtsam/inference/Factor.h:64:30: error: expected ';' at end of member declaration
  824. typedef FastVector<Key>::const_iterator const_iterator;
  825. ^
  826. /usr/local/include/gtsam/inference/Factor.h:64:45: error: declaration does not declare anything [-fpermissive]
  827. typedef FastVector<Key>::const_iterator const_iterator;
  828. ^
  829. /usr/local/include/gtsam/inference/Factor.h:69:16: error: 'Key' was not declared in this scope
  830. FastVector<Key> keys_;
  831. ^
  832. /usr/local/include/gtsam/inference/Factor.h:69:19: error: template argument 1 is invalid
  833. FastVector<Key> keys_;
  834. ^
  835. /usr/local/include/gtsam/inference/Factor.h:106:5: error: 'Key' does not name a type
  836. Key front() const { return keys_.front(); }
  837. ^
  838. /usr/local/include/gtsam/inference/Factor.h:109:5: error: 'Key' does not name a type
  839. Key back() const { return keys_.back(); }
  840. ^
  841. /usr/local/include/gtsam/inference/Factor.h:112:25: error: 'Key' has not been declared
  842. const_iterator find(Key key) const { return std::find(begin(), end(), key); }
  843. ^
  844. /usr/local/include/gtsam/inference/Factor.h:115:22: error: 'Key' was not declared in this scope
  845. const FastVector<Key>& keys() const { return keys_; }
  846. ^
  847. /usr/local/include/gtsam/inference/Factor.h:115:25: error: template argument 1 is invalid
  848. const FastVector<Key>& keys() const { return keys_; }
  849. ^
  850. /usr/local/include/gtsam/inference/Factor.h:151:16: error: 'Key' was not declared in this scope
  851. FastVector<Key>& keys() { return keys_; }
  852. ^
  853. /usr/local/include/gtsam/inference/Factor.h:151:19: error: template argument 1 is invalid
  854. FastVector<Key>& keys() { return keys_; }
  855. ^
  856. /usr/local/include/gtsam/inference/Factor.h: In member function 'gtsam::Factor::const_iterator gtsam::Factor::begin() const':
  857. /usr/local/include/gtsam/inference/Factor.h:118:49: error: request for member 'begin' in '((const gtsam::Factor*)this)->gtsam::Factor::keys_', which is of non-class type 'const int'
  858. const_iterator begin() const { return keys_.begin(); }
  859. ^
  860. /usr/local/include/gtsam/inference/Factor.h: In member function 'gtsam::Factor::const_iterator gtsam::Factor::end() const':
  861. /usr/local/include/gtsam/inference/Factor.h:121:47: error: request for member 'end' in '((const gtsam::Factor*)this)->gtsam::Factor::keys_', which is of non-class type 'const int'
  862. const_iterator end() const { return keys_.end(); }
  863. ^
  864. /usr/local/include/gtsam/inference/Factor.h: In member function 'std::size_t gtsam::Factor::size() const':
  865. /usr/local/include/gtsam/inference/Factor.h:126:40: error: request for member 'size' in '((const gtsam::Factor*)this)->gtsam::Factor::keys_', which is of non-class type 'const int'
  866. size_t size() const { return keys_.size(); }
  867. ^
  868. /usr/local/include/gtsam/inference/Factor.h: In member function 'gtsam::Factor::iterator gtsam::Factor::begin()':
  869. /usr/local/include/gtsam/inference/Factor.h:154:37: error: request for member 'begin' in '((gtsam::Factor*)this)->gtsam::Factor::keys_', which is of non-class type 'int'
  870. iterator begin() { return keys_.begin(); }
  871. ^
  872. /usr/local/include/gtsam/inference/Factor.h: In member function 'gtsam::Factor::iterator gtsam::Factor::end()':
  873. /usr/local/include/gtsam/inference/Factor.h:157:35: error: request for member 'end' in '((gtsam::Factor*)this)->gtsam::Factor::keys_', which is of non-class type 'int'
  874. iterator end() { return keys_.end(); }
  875. ^
  876. In file included from /usr/local/include/gtsam/linear/JacobianFactor.h:21:0,
  877. from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:25,
  878. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:25,
  879. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  880. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  881. /usr/local/include/gtsam/linear/GaussianFactor.h: At global scope:
  882. /usr/local/include/gtsam/linear/GaussianFactor.h:109:22: error: 'Key' was not declared in this scope
  883. virtual std::map<Key,Matrix> hessianBlockDiagonal() const = 0;
  884. ^
  885. /usr/local/include/gtsam/linear/GaussianFactor.h:109:32: error: template argument 1 is invalid
  886. virtual std::map<Key,Matrix> hessianBlockDiagonal() const = 0;
  887. ^
  888. /usr/local/include/gtsam/linear/GaussianFactor.h:109:32: error: template argument 3 is invalid
  889. /usr/local/include/gtsam/linear/GaussianFactor.h:109:32: error: template argument 4 is invalid
  890. /usr/local/include/gtsam/linear/GaussianFactor.h:129:49: error: 'Key' was not declared in this scope
  891. virtual void updateHessian(const FastVector<Key>& keys,
  892. ^
  893. /usr/local/include/gtsam/linear/GaussianFactor.h:129:52: error: template argument 1 is invalid
  894. virtual void updateHessian(const FastVector<Key>& keys,
  895. ^
  896. /usr/local/include/gtsam/linear/GaussianFactor.h:142:29: error: 'Key' has not been declared
  897. virtual Vector gradient(Key key, const VectorValues& x) const = 0;
  898. ^
  899. /usr/local/include/gtsam/linear/GaussianFactor.h:146:51: error: 'Key' has not been declared
  900. static DenseIndex Slot(const CONTAINER& keys, Key key) {
  901. ^
  902. In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:25:0,
  903. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:25,
  904. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  905. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  906. /usr/local/include/gtsam/linear/JacobianFactor.h:123:24: error: expected ')' before 'i1'
  907. JacobianFactor(Key i1, const Matrix& A1,
  908. ^
  909. /usr/local/include/gtsam/linear/JacobianFactor.h:127:24: error: expected ')' before 'i1'
  910. JacobianFactor(Key i1, const Matrix& A1,
  911. ^
  912. /usr/local/include/gtsam/linear/JacobianFactor.h:132:24: error: expected ')' before 'i1'
  913. JacobianFactor(Key i1, const Matrix& A1, Key i2,
  914. ^
  915. /usr/local/include/gtsam/linear/JacobianFactor.h:199:22: error: 'Key' was not declared in this scope
  916. virtual std::map<Key,Matrix> hessianBlockDiagonal() const;
  917. ^
  918. /usr/local/include/gtsam/linear/JacobianFactor.h:199:32: error: template argument 1 is invalid
  919. virtual std::map<Key,Matrix> hessianBlockDiagonal() const;
  920. ^
  921. /usr/local/include/gtsam/linear/JacobianFactor.h:199:32: error: template argument 3 is invalid
  922. /usr/local/include/gtsam/linear/JacobianFactor.h:199:32: error: template argument 4 is invalid
  923. /usr/local/include/gtsam/linear/JacobianFactor.h:286:41: error: 'Key' was not declared in this scope
  924. void updateHessian(const FastVector<Key>& keys, SymmetricBlockMatrix* info) const;
  925. ^
  926. /usr/local/include/gtsam/linear/JacobianFactor.h:286:44: error: template argument 1 is invalid
  927. void updateHessian(const FastVector<Key>& keys, SymmetricBlockMatrix* info) const;
  928. ^
  929. /usr/local/include/gtsam/linear/JacobianFactor.h:316:21: error: 'Key' has not been declared
  930. Vector gradient(Key key, const VectorValues& x) const;
  931. ^
  932. In file included from /usr/local/include/gtsam/linear/JacobianFactor-inl.h:21:0,
  933. from /usr/local/include/gtsam/linear/JacobianFactor.h:391,
  934. from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:25,
  935. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:25,
  936. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  937. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  938. /usr/local/include/gtsam/linear/linearExceptions.h:95:5: error: 'Key' does not name a type
  939. Key j_;
  940. ^
  941. /usr/local/include/gtsam/linear/linearExceptions.h:97:44: error: expected ')' before 'j'
  942. IndeterminantLinearSystemException(Key j) throw() : j_(j) {}
  943. ^
  944. /usr/local/include/gtsam/linear/linearExceptions.h:99:5: error: 'Key' does not name a type
  945. Key nearbyVariable() const { return j_; }
  946. ^
  947. In file included from /usr/local/include/gtsam/linear/JacobianFactor.h:391:0,
  948. from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:25,
  949. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:25,
  950. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  951. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  952. /usr/local/include/gtsam/linear/JacobianFactor-inl.h: In constructor 'gtsam::JacobianFactor::JacobianFactor(const KEYS&, const gtsam::VerticalBlockMatrix&, const SharedDiagonal&)':
  953. /usr/local/include/gtsam/linear/JacobianFactor-inl.h:43:32: error: request for member 'size' in 'gtsam::JacobianFactor::Base:: keys_', which is of non-class type 'int'
  954. if((DenseIndex)Base::keys_.size() != augmentedMatrix.nBlocks() - 1)
  955. ^
  956. /usr/local/include/gtsam/linear/JacobianFactor-inl.h: In member function 'void gtsam::JacobianFactor::fillTerms(const TERMS&, const Vector&, const SharedDiagonal&)':
  957. /usr/local/include/gtsam/linear/JacobianFactor-inl.h:67:17: error: request for member 'resize' in 'gtsam::JacobianFactor::Base:: keys_', which is of non-class type 'int'
  958. Base::keys_.resize(terms.size());
  959. ^
  960. /usr/local/include/gtsam/linear/JacobianFactor-inl.h:73:23: error: 'Key' was not declared in this scope
  961. const std::pair<Key, Matrix>& term = *it;
  962. ^
  963. /usr/local/include/gtsam/linear/JacobianFactor-inl.h:73:34: error: template argument 1 is invalid
  964. const std::pair<Key, Matrix>& term = *it;
  965. ^
  966. /usr/local/include/gtsam/linear/JacobianFactor-inl.h:73:42: error: invalid type in declaration before '=' token
  967. const std::pair<Key, Matrix>& term = *it;
  968. ^
  969. /usr/local/include/gtsam/linear/JacobianFactor-inl.h:74:31: error: request for member 'second' in 'term', which is of non-class type 'const int'
  970. const Matrix& Ai = term.second;
  971. ^
  972. /usr/local/include/gtsam/linear/JacobianFactor-inl.h:84:23: error: 'Key' was not declared in this scope
  973. const std::pair<Key, Matrix>& term = *it;
  974. ^
  975. /usr/local/include/gtsam/linear/JacobianFactor-inl.h:84:34: error: template argument 1 is invalid
  976. const std::pair<Key, Matrix>& term = *it;
  977. ^
  978. /usr/local/include/gtsam/linear/JacobianFactor-inl.h:84:42: error: invalid type in declaration before '=' token
  979. const std::pair<Key, Matrix>& term = *it;
  980. ^
  981. /usr/local/include/gtsam/linear/JacobianFactor-inl.h:85:11: error: expected ';' before 'key'
  982. Key key = term.first;
  983. ^
  984. /usr/local/include/gtsam/linear/JacobianFactor-inl.h:86:31: error: request for member 'second' in 'term', which is of non-class type 'const int'
  985. const Matrix& Ai = term.second;
  986. ^
  987. /usr/local/include/gtsam/linear/JacobianFactor-inl.h:93:20: error: invalid types 'int[gtsam::DenseIndex {aka long int}]' for array subscript
  988. Base::keys_[i] = key;
  989. ^
  990. /usr/local/include/gtsam/linear/JacobianFactor-inl.h:93:24: error: 'key' was not declared in this scope
  991. Base::keys_[i] = key;
  992. ^
  993. In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:25:0,
  994. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  995. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  996. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h: At global scope:
  997. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:138:35: error: 'Key' was not declared in this scope
  998. shared_ptr rekey(const std::map<Key,Key>& rekey_mapping) const;
  999. ^
  1000. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:138:39: error: 'Key' was not declared in this scope
  1001. shared_ptr rekey(const std::map<Key,Key>& rekey_mapping) const;
  1002. ^
  1003. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:138:42: error: template argument 1 is invalid
  1004. shared_ptr rekey(const std::map<Key,Key>& rekey_mapping) const;
  1005. ^
  1006. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:138:42: error: template argument 2 is invalid
  1007. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:138:42: error: template argument 3 is invalid
  1008. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:138:42: error: template argument 4 is invalid
  1009. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:144:38: error: 'Key' was not declared in this scope
  1010. shared_ptr rekey(const std::vector<Key>& new_keys) const;
  1011. ^
  1012. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:144:41: error: template argument 1 is invalid
  1013. shared_ptr rekey(const std::vector<Key>& new_keys) const;
  1014. ^
  1015. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:144:41: error: template argument 2 is invalid
  1016. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:144:14: error: 'gtsam::NonlinearFactor::shared_ptr gtsam::NonlinearFactor::rekey(const int&) const' cannot be overloaded
  1017. shared_ptr rekey(const std::vector<Key>& new_keys) const;
  1018. ^
  1019. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:138:14: error: with 'gtsam::NonlinearFactor::shared_ptr gtsam::NonlinearFactor::rekey(const int&) const'
  1020. shared_ptr rekey(const std::map<Key,Key>& rekey_mapping) const;
  1021. ^
  1022. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:295:10: error: 'Key' does not name a type
  1023. inline Key key() const { return keys_[0]; }
  1024. ^
  1025. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:302:57: error: 'Key' has not been declared
  1026. NoiseModelFactor1(const SharedNoiseModel& noiseModel, Key key1) :
  1027. ^
  1028. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h: In member function 'virtual gtsam::Vector gtsam::NoiseModelFactor1<VALUE>::unwhitenedError(const gtsam::Values&, boost::optional<std::vector<Eigen::Matrix<double, -1, -1> >&>) const':
  1029. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:310:36: error: invalid types 'const int[int]' for array subscript
  1030. const X& x1 = x.at<X>(keys_[0]);
  1031. ^
  1032. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h: At global scope:
  1033. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:371:57: error: 'Key' has not been declared
  1034. NoiseModelFactor2(const SharedNoiseModel& noiseModel, Key j1, Key j2) :
  1035. ^
  1036. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:371:65: error: 'Key' has not been declared
  1037. NoiseModelFactor2(const SharedNoiseModel& noiseModel, Key j1, Key j2) :
  1038. ^
  1039. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:377:10: error: 'Key' does not name a type
  1040. inline Key key1() const { return keys_[0]; }
  1041. ^
  1042. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:378:10: error: 'Key' does not name a type
  1043. inline Key key2() const { return keys_[1]; }
  1044. ^
  1045. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h: In member function 'virtual gtsam::Vector gtsam::NoiseModelFactor2<VALUE1, VALUE2>::unwhitenedError(const gtsam::Values&, boost::optional<std::vector<Eigen::Matrix<double, -1, -1> >&>) const':
  1046. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:384:38: error: invalid types 'const int[int]' for array subscript
  1047. const X1& x1 = x.at<X1>(keys_[0]);
  1048. ^
  1049. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:385:38: error: invalid types 'const int[int]' for array subscript
  1050. const X2& x2 = x.at<X2>(keys_[1]);
  1051. ^
  1052. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h: At global scope:
  1053. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:448:57: error: 'Key' has not been declared
  1054. NoiseModelFactor3(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3) :
  1055. ^
  1056. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:448:65: error: 'Key' has not been declared
  1057. NoiseModelFactor3(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3) :
  1058. ^
  1059. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:448:73: error: 'Key' has not been declared
  1060. NoiseModelFactor3(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3) :
  1061. ^
  1062. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:454:10: error: 'Key' does not name a type
  1063. inline Key key1() const { return keys_[0]; }
  1064. ^
  1065. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:455:10: error: 'Key' does not name a type
  1066. inline Key key2() const { return keys_[1]; }
  1067. ^
  1068. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:456:10: error: 'Key' does not name a type
  1069. inline Key key3() const { return keys_[2]; }
  1070. ^
  1071. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h: In member function 'virtual gtsam::Vector gtsam::NoiseModelFactor3<VALUE1, VALUE2, VALUE3>::unwhitenedError(const gtsam::Values&, boost::optional<std::vector<Eigen::Matrix<double, -1, -1> >&>) const':
  1072. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:463:46: error: invalid types 'const int[int]' for array subscript
  1073. return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), (*H)[0], (*H)[1], (*H)[2]);
  1074. ^
  1075. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:463:66: error: invalid types 'const int[int]' for array subscript
  1076. return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), (*H)[0], (*H)[1], (*H)[2]);
  1077. ^
  1078. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:463:86: error: invalid types 'const int[int]' for array subscript
  1079. return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), (*H)[0], (*H)[1], (*H)[2]);
  1080. ^
  1081. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:465:46: error: invalid types 'const int[int]' for array subscript
  1082. return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]));
  1083. ^
  1084. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:465:66: error: invalid types 'const int[int]' for array subscript
  1085. return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]));
  1086. ^
  1087. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:465:86: error: invalid types 'const int[int]' for array subscript
  1088. return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]));
  1089. ^
  1090. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h: At global scope:
  1091. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:527:57: error: 'Key' has not been declared
  1092. NoiseModelFactor4(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3, Key j4) :
  1093. ^
  1094. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:527:65: error: 'Key' has not been declared
  1095. NoiseModelFactor4(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3, Key j4) :
  1096. ^
  1097. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:527:73: error: 'Key' has not been declared
  1098. NoiseModelFactor4(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3, Key j4) :
  1099. ^
  1100. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:527:81: error: 'Key' has not been declared
  1101. NoiseModelFactor4(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3, Key j4) :
  1102. ^
  1103. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:533:10: error: 'Key' does not name a type
  1104. inline Key key1() const { return keys_[0]; }
  1105. ^
  1106. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:534:10: error: 'Key' does not name a type
  1107. inline Key key2() const { return keys_[1]; }
  1108. ^
  1109. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:535:10: error: 'Key' does not name a type
  1110. inline Key key3() const { return keys_[2]; }
  1111. ^
  1112. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:536:10: error: 'Key' does not name a type
  1113. inline Key key4() const { return keys_[3]; }
  1114. ^
  1115. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h: In member function 'virtual gtsam::Vector gtsam::NoiseModelFactor4<VALUE1, VALUE2, VALUE3, VALUE4>::unwhitenedError(const gtsam::Values&, boost::optional<std::vector<Eigen::Matrix<double, -1, -1> >&>) const':
  1116. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:543:46: error: invalid types 'const int[int]' for array subscript
  1117. return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), x.at<X4>(keys_[3]), (*H)[0], (*H)[1], (*H)[2], (*H)[3]);
  1118. ^
  1119. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:543:66: error: invalid types 'const int[int]' for array subscript
  1120. return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), x.at<X4>(keys_[3]), (*H)[0], (*H)[1], (*H)[2], (*H)[3]);
  1121. ^
  1122. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:543:86: error: invalid types 'const int[int]' for array subscript
  1123. return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), x.at<X4>(keys_[3]), (*H)[0], (*H)[1], (*H)[2], (*H)[3]);
  1124. ^
  1125. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:543:106: error: invalid types 'const int[int]' for array subscript
  1126. return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), x.at<X4>(keys_[3]), (*H)[0], (*H)[1], (*H)[2], (*H)[3]);
  1127. ^
  1128. In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:25:0,
  1129. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  1130. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  1131. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:545:46: error: invalid types 'const int[int]' for array subscript
  1132. return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), x.at<X4>(keys_[3]));
  1133. ^
  1134. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:545:66: error: invalid types 'const int[int]' for array subscript
  1135. return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), x.at<X4>(keys_[3]));
  1136. ^
  1137. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:545:86: error: invalid types 'const int[int]' for array subscript
  1138. return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), x.at<X4>(keys_[3]));
  1139. ^
  1140. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:545:106: error: invalid types 'const int[int]' for array subscript
  1141. return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), x.at<X4>(keys_[3]));
  1142. ^
  1143. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h: At global scope:
  1144. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:610:57: error: 'Key' has not been declared
  1145. NoiseModelFactor5(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3, Key j4, Key j5) :
  1146. ^
  1147. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:610:65: error: 'Key' has not been declared
  1148. NoiseModelFactor5(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3, Key j4, Key j5) :
  1149. ^
  1150. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:610:73: error: 'Key' has not been declared
  1151. NoiseModelFactor5(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3, Key j4, Key j5) :
  1152. ^
  1153. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:610:81: error: 'Key' has not been declared
  1154. NoiseModelFactor5(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3, Key j4, Key j5) :
  1155. ^
  1156. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:610:89: error: 'Key' has not been declared
  1157. NoiseModelFactor5(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3, Key j4, Key j5) :
  1158. ^
  1159. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:616:10: error: 'Key' does not name a type
  1160. inline Key key1() const { return keys_[0]; }
  1161. ^
  1162. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:617:10: error: 'Key' does not name a type
  1163. inline Key key2() const { return keys_[1]; }
  1164. ^
  1165. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:618:10: error: 'Key' does not name a type
  1166. inline Key key3() const { return keys_[2]; }
  1167. ^
  1168. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:619:10: error: 'Key' does not name a type
  1169. inline Key key4() const { return keys_[3]; }
  1170. ^
  1171. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:620:10: error: 'Key' does not name a type
  1172. inline Key key5() const { return keys_[4]; }
  1173. ^
  1174. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h: In member function 'virtual gtsam::Vector gtsam::NoiseModelFactor5<VALUE1, VALUE2, VALUE3, VALUE4, VALUE5>::unwhitenedError(const gtsam::Values&, boost::optional<std::vector<Eigen::Matrix<double, -1, -1> >&>) const':
  1175. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:627:46: error: invalid types 'const int[int]' for array subscript
  1176. return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), x.at<X4>(keys_[3]), x.at<X5>(keys_[4]), (*H)[0], (*H)[1], (*H)[2], (*H)[3], (*H)[4]);
  1177. ^
  1178. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:627:66: error: invalid types 'const int[int]' for array subscript
  1179. return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), x.at<X4>(keys_[3]), x.at<X5>(keys_[4]), (*H)[0], (*H)[1], (*H)[2], (*H)[3], (*H)[4]);
  1180. ^
  1181. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:627:86: error: invalid types 'const int[int]' for array subscript
  1182. return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), x.at<X4>(keys_[3]), x.at<X5>(keys_[4]), (*H)[0], (*H)[1], (*H)[2], (*H)[3], (*H)[4]);
  1183. ^
  1184. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:627:106: error: invalid types 'const int[int]' for array subscript
  1185. return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), x.at<X4>(keys_[3]), x.at<X5>(keys_[4]), (*H)[0], (*H)[1], (*H)[2], (*H)[3], (*H)[4]);
  1186. ^
  1187. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:627:126: error: invalid types 'const int[int]' for array subscript
  1188. return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), x.at<X4>(keys_[3]), x.at<X5>(keys_[4]), (*H)[0], (*H)[1], (*H)[2], (*H)[3], (*H)[4]);
  1189. ^
  1190. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:629:46: error: invalid types 'const int[int]' for array subscript
  1191. return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), x.at<X4>(keys_[3]), x.at<X5>(keys_[4]));
  1192. ^
  1193. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:629:66: error: invalid types 'const int[int]' for array subscript
  1194. return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), x.at<X4>(keys_[3]), x.at<X5>(keys_[4]));
  1195. ^
  1196. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:629:86: error: invalid types 'const int[int]' for array subscript
  1197. return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), x.at<X4>(keys_[3]), x.at<X5>(keys_[4]));
  1198. ^
  1199. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:629:106: error: invalid types 'const int[int]' for array subscript
  1200. return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), x.at<X4>(keys_[3]), x.at<X5>(keys_[4]));
  1201. ^
  1202. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:629:126: error: invalid types 'const int[int]' for array subscript
  1203. return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), x.at<X4>(keys_[3]), x.at<X5>(keys_[4]));
  1204. ^
  1205. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h: At global scope:
  1206. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:697:57: error: 'Key' has not been declared
  1207. NoiseModelFactor6(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3, Key j4, Key j5, Key j6) :
  1208. ^
  1209. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:697:65: error: 'Key' has not been declared
  1210. NoiseModelFactor6(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3, Key j4, Key j5, Key j6) :
  1211. ^
  1212. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:697:73: error: 'Key' has not been declared
  1213. NoiseModelFactor6(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3, Key j4, Key j5, Key j6) :
  1214. ^
  1215. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:697:81: error: 'Key' has not been declared
  1216. NoiseModelFactor6(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3, Key j4, Key j5, Key j6) :
  1217. ^
  1218. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:697:89: error: 'Key' has not been declared
  1219. NoiseModelFactor6(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3, Key j4, Key j5, Key j6) :
  1220. ^
  1221. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:697:97: error: 'Key' has not been declared
  1222. NoiseModelFactor6(const SharedNoiseModel& noiseModel, Key j1, Key j2, Key j3, Key j4, Key j5, Key j6) :
  1223. ^
  1224. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:703:10: error: 'Key' does not name a type
  1225. inline Key key1() const { return keys_[0]; }
  1226. ^
  1227. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:704:10: error: 'Key' does not name a type
  1228. inline Key key2() const { return keys_[1]; }
  1229. ^
  1230. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:705:10: error: 'Key' does not name a type
  1231. inline Key key3() const { return keys_[2]; }
  1232. ^
  1233. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:706:10: error: 'Key' does not name a type
  1234. inline Key key4() const { return keys_[3]; }
  1235. ^
  1236. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:707:10: error: 'Key' does not name a type
  1237. inline Key key5() const { return keys_[4]; }
  1238. ^
  1239. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:708:10: error: 'Key' does not name a type
  1240. inline Key key6() const { return keys_[5]; }
  1241. ^
  1242. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h: In member function 'virtual gtsam::Vector gtsam::NoiseModelFactor6<VALUE1, VALUE2, VALUE3, VALUE4, VALUE5, VALUE6>::unwhitenedError(const gtsam::Values&, boost::optional<std::vector<Eigen::Matrix<double, -1, -1> >&>) const':
  1243. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:715:46: error: invalid types 'const int[int]' for array subscript
  1244. return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), x.at<X4>(keys_[3]), x.at<X5>(keys_[4]), x.at<X6>(keys_[5]), (*H)[0], (*H)[1], (*H)[2], (*H)[3], (*H)[4], (*H)[5]);
  1245. ^
  1246. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:715:66: error: invalid types 'const int[int]' for array subscript
  1247. return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), x.at<X4>(keys_[3]), x.at<X5>(keys_[4]), x.at<X6>(keys_[5]), (*H)[0], (*H)[1], (*H)[2], (*H)[3], (*H)[4], (*H)[5]);
  1248. ^
  1249. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:715:86: error: invalid types 'const int[int]' for array subscript
  1250. return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), x.at<X4>(keys_[3]), x.at<X5>(keys_[4]), x.at<X6>(keys_[5]), (*H)[0], (*H)[1], (*H)[2], (*H)[3], (*H)[4], (*H)[5]);
  1251. ^
  1252. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:715:106: error: invalid types 'const int[int]' for array subscript
  1253. return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), x.at<X4>(keys_[3]), x.at<X5>(keys_[4]), x.at<X6>(keys_[5]), (*H)[0], (*H)[1], (*H)[2], (*H)[3], (*H)[4], (*H)[5]);
  1254. ^
  1255. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:715:126: error: invalid types 'const int[int]' for array subscript
  1256. return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), x.at<X4>(keys_[3]), x.at<X5>(keys_[4]), x.at<X6>(keys_[5]), (*H)[0], (*H)[1], (*H)[2], (*H)[3], (*H)[4], (*H)[5]);
  1257. ^
  1258. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:715:146: error: invalid types 'const int[int]' for array subscript
  1259. return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), x.at<X4>(keys_[3]), x.at<X5>(keys_[4]), x.at<X6>(keys_[5]), (*H)[0], (*H)[1], (*H)[2], (*H)[3], (*H)[4], (*H)[5]);
  1260. ^
  1261. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:717:46: error: invalid types 'const int[int]' for array subscript
  1262. return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), x.at<X4>(keys_[3]), x.at<X5>(keys_[4]), x.at<X6>(keys_[5]));
  1263. ^
  1264. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:717:66: error: invalid types 'const int[int]' for array subscript
  1265. return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), x.at<X4>(keys_[3]), x.at<X5>(keys_[4]), x.at<X6>(keys_[5]));
  1266. ^
  1267. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:717:86: error: invalid types 'const int[int]' for array subscript
  1268. return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), x.at<X4>(keys_[3]), x.at<X5>(keys_[4]), x.at<X6>(keys_[5]));
  1269. ^
  1270. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:717:106: error: invalid types 'const int[int]' for array subscript
  1271. return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), x.at<X4>(keys_[3]), x.at<X5>(keys_[4]), x.at<X6>(keys_[5]));
  1272. ^
  1273. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:717:126: error: invalid types 'const int[int]' for array subscript
  1274. return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), x.at<X4>(keys_[3]), x.at<X5>(keys_[4]), x.at<X6>(keys_[5]));
  1275. ^
  1276. /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:717:146: error: invalid types 'const int[int]' for array subscript
  1277. return evaluateError(x.at<X1>(keys_[0]), x.at<X2>(keys_[1]), x.at<X3>(keys_[2]), x.at<X4>(keys_[3]), x.at<X5>(keys_[4]), x.at<X6>(keys_[5]));
  1278. ^
  1279. In file included from /usr/local/include/gtsam/inference/FactorGraph.h:358:0,
  1280. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:26,
  1281. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  1282. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  1283. /usr/local/include/gtsam/inference/FactorGraph-inst.h: In member function 'std::size_t gtsam::FactorGraph<FACTOR>::nrFactors() const':
  1284. /usr/local/include/gtsam/inference/FactorGraph-inst.h:68:37: error: range-based 'for' loops are not allowed in C++98 mode
  1285. for(const sharedFactor& factor: factors_)
  1286. ^
  1287. /usr/local/include/gtsam/inference/FactorGraph-inst.h: In member function 'gtsam::KeySet gtsam::FactorGraph<FACTOR>::keys() const':
  1288. /usr/local/include/gtsam/inference/FactorGraph-inst.h:77:37: error: range-based 'for' loops are not allowed in C++98 mode
  1289. for(const sharedFactor& factor: this->factors_) {
  1290. ^
  1291. /usr/local/include/gtsam/inference/FactorGraph-inst.h:79:14: error: request for member 'insert' in 'keys', which is of non-class type 'gtsam::KeySet {aka int}'
  1292. keys.insert(factor->begin(), factor->end());
  1293. ^
  1294. /usr/local/include/gtsam/inference/FactorGraph-inst.h: In member function 'gtsam::KeyVector gtsam::FactorGraph<FACTOR>::keyVector() const':
  1295. /usr/local/include/gtsam/inference/FactorGraph-inst.h:88:10: error: request for member 'reserve' in 'keys', which is of non-class type 'gtsam::KeyVector {aka int}'
  1296. keys.reserve(2 * size()); // guess at size
  1297. ^
  1298. /usr/local/include/gtsam/inference/FactorGraph-inst.h:89:38: error: range-based 'for' loops are not allowed in C++98 mode
  1299. for (const sharedFactor& factor: factors_)
  1300. ^
  1301. /usr/local/include/gtsam/inference/FactorGraph-inst.h:91:14: error: request for member 'insert' in 'keys', which is of non-class type 'gtsam::KeyVector {aka int}'
  1302. keys.insert(keys.end(), factor->begin(), factor->end());
  1303. ^
  1304. /usr/local/include/gtsam/inference/FactorGraph-inst.h:91:26: error: request for member 'end' in 'keys', which is of non-class type 'gtsam::KeyVector {aka int}'
  1305. keys.insert(keys.end(), factor->begin(), factor->end());
  1306. ^
  1307. /usr/local/include/gtsam/inference/FactorGraph-inst.h:92:20: error: request for member 'begin' in 'keys', which is of non-class type 'gtsam::KeyVector {aka int}'
  1308. std::sort(keys.begin(), keys.end());
  1309. ^
  1310. /usr/local/include/gtsam/inference/FactorGraph-inst.h:92:34: error: request for member 'end' in 'keys', which is of non-class type 'gtsam::KeyVector {aka int}'
  1311. std::sort(keys.begin(), keys.end());
  1312. ^
  1313. /usr/local/include/gtsam/inference/FactorGraph-inst.h:93:10: error: 'last' does not name a type
  1314. auto last = std::unique(keys.begin(), keys.end());
  1315. ^
  1316. /usr/local/include/gtsam/inference/FactorGraph-inst.h:94:10: error: request for member 'erase' in 'keys', which is of non-class type 'gtsam::KeyVector {aka int}'
  1317. keys.erase(last, keys.end());
  1318. ^
  1319. /usr/local/include/gtsam/inference/FactorGraph-inst.h:94:16: error: 'last' was not declared in this scope
  1320. keys.erase(last, keys.end());
  1321. ^
  1322. /usr/local/include/gtsam/inference/FactorGraph-inst.h:94:27: error: request for member 'end' in 'keys', which is of non-class type 'gtsam::KeyVector {aka int}'
  1323. keys.erase(last, keys.end());
  1324. ^
  1325. In file included from /root/ws/admm-slam/cpp/src/ADMM.h:4:0,
  1326. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  1327. /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h: At global scope:
  1328. /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:140:54: error: 'Key' was not declared in this scope
  1329. Ordering orderingCOLAMDConstrained(const FastMap<Key, int>& constraints) const;
  1330. ^
  1331. /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:140:62: error: template argument 1 is invalid
  1332. Ordering orderingCOLAMDConstrained(const FastMap<Key, int>& constraints) const;
  1333. ^
  1334. /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:146:13: error: 'function' in namespace 'std' does not name a type
  1335. typedef std::function<void(const boost::shared_ptr<HessianFactor>& hessianFactor)> Dampen;
  1336. ^
  1337. /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:158:15: error: 'Dampen' does not name a type
  1338. const Dampen& dampen = nullptr) const;
  1339. ^
  1340. /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:163:33: error: 'Dampen' does not name a type
  1341. const Dampen& dampen = nullptr) const;
  1342. ^
  1343. /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:177:47: error: 'Key' was not declared in this scope
  1344. NonlinearFactorGraph rekey(const std::map<Key,Key>& rekey_mapping) const;
  1345. ^
  1346. /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:177:51: error: 'Key' was not declared in this scope
  1347. NonlinearFactorGraph rekey(const std::map<Key,Key>& rekey_mapping) const;
  1348. ^
  1349. /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:177:54: error: template argument 1 is invalid
  1350. NonlinearFactorGraph rekey(const std::map<Key,Key>& rekey_mapping) const;
  1351. ^
  1352. /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:177:54: error: template argument 2 is invalid
  1353. /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:177:54: error: template argument 3 is invalid
  1354. /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:177:54: error: template argument 4 is invalid
  1355. /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:158:32: error: 'nullptr' was not declared in this scope
  1356. const Dampen& dampen = nullptr) const;
  1357. ^
  1358. /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:163:50: error: 'nullptr' was not declared in this scope
  1359. const Dampen& dampen = nullptr) const;
  1360. ^
  1361. In file included from /usr/local/include/gtsam/nonlinear/Symbol.h:21:0,
  1362. from /root/ws/admm-slam/cpp/src/ADMM.h:5,
  1363. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  1364. /usr/local/include/gtsam/inference/Symbol.h:37:3: error: 'uint64_t' in namespace 'std' does not name a type
  1365. std::uint64_t j_;
  1366. ^
  1367. /usr/local/include/gtsam/inference/Symbol.h:52:32: error: 'std::uint64_t' has not been declared
  1368. Symbol(unsigned char c, std::uint64_t j) :
  1369. ^
  1370. /usr/local/include/gtsam/inference/Symbol.h:57:14: error: expected ')' before 'key'
  1371. Symbol(Key key);
  1372. ^
  1373. /usr/local/include/gtsam/inference/Symbol.h:60:3: error: 'Key' does not name a type
  1374. Key key() const;
  1375. ^
  1376. /usr/local/include/gtsam/inference/Symbol.h:63:12: error: expected type-specifier before 'Key'
  1377. operator Key() const { return key(); }
  1378. ^
  1379. /usr/local/include/gtsam/inference/Symbol.h:77:3: error: 'uint64_t' in namespace 'std' does not name a type
  1380. std::uint64_t index() const {
  1381. ^
  1382. /usr/local/include/gtsam/inference/Symbol.h:95:19: error: 'Key' has not been declared
  1383. bool operator==(Key comp) const {
  1384. ^
  1385. /usr/local/include/gtsam/inference/Symbol.h:105:19: error: 'Key' has not been declared
  1386. bool operator!=(Key comp) const {
  1387. ^
  1388. /usr/local/include/gtsam/inference/Symbol.h:114:31: error: 'Key' was not declared in this scope
  1389. static boost::function<bool(Key)> ChrTest(unsigned char c);
  1390. ^
  1391. /usr/local/include/gtsam/inference/Symbol.h:114:35: error: template argument 1 is invalid
  1392. static boost::function<bool(Key)> ChrTest(unsigned char c);
  1393. ^
  1394. /usr/local/include/gtsam/inference/Symbol.h: In constructor 'gtsam::Symbol::Symbol()':
  1395. /usr/local/include/gtsam/inference/Symbol.h:43:12: error: class 'gtsam::Symbol' does not have any field named 'j_'
  1396. c_(0), j_(0) {
  1397. ^
  1398. /usr/local/include/gtsam/inference/Symbol.h: In copy constructor 'gtsam::Symbol::Symbol(const gtsam::Symbol&)':
  1399. /usr/local/include/gtsam/inference/Symbol.h:48:17: error: class 'gtsam::Symbol' does not have any field named 'j_'
  1400. c_(key.c_), j_(key.j_) {
  1401. ^
  1402. /usr/local/include/gtsam/inference/Symbol.h:48:24: error: 'const class gtsam::Symbol' has no member named 'j_'
  1403. c_(key.c_), j_(key.j_) {
  1404. ^
  1405. /usr/local/include/gtsam/inference/Symbol.h: In constructor 'gtsam::Symbol::Symbol(unsigned char, int)':
  1406. /usr/local/include/gtsam/inference/Symbol.h:53:12: error: class 'gtsam::Symbol' does not have any field named 'j_'
  1407. c_(c), j_(j) {
  1408. ^
  1409. /usr/local/include/gtsam/inference/Symbol.h: In member function 'bool gtsam::Symbol::operator<(const gtsam::Symbol&) const':
  1410. /usr/local/include/gtsam/inference/Symbol.h:86:46: error: 'j_' was not declared in this scope
  1411. return c_ < comp.c_ || (comp.c_ == c_ && j_ < comp.j_);
  1412. ^
  1413. /usr/local/include/gtsam/inference/Symbol.h:86:56: error: 'const class gtsam::Symbol' has no member named 'j_'
  1414. return c_ < comp.c_ || (comp.c_ == c_ && j_ < comp.j_);
  1415. ^
  1416. /usr/local/include/gtsam/inference/Symbol.h: In member function 'bool gtsam::Symbol::operator==(const gtsam::Symbol&) const':
  1417. /usr/local/include/gtsam/inference/Symbol.h:91:34: error: 'const class gtsam::Symbol' has no member named 'j_'
  1418. return comp.c_ == c_ && comp.j_ == j_;
  1419. ^
  1420. /usr/local/include/gtsam/inference/Symbol.h:91:40: error: 'j_' was not declared in this scope
  1421. return comp.c_ == c_ && comp.j_ == j_;
  1422. ^
  1423. /usr/local/include/gtsam/inference/Symbol.h: In member function 'bool gtsam::Symbol::operator==(int) const':
  1424. /usr/local/include/gtsam/inference/Symbol.h:96:21: error: 'Key' was not declared in this scope
  1425. return comp == (Key)(*this);
  1426. ^
  1427. /usr/local/include/gtsam/inference/Symbol.h: In member function 'bool gtsam::Symbol::operator!=(const gtsam::Symbol&) const':
  1428. /usr/local/include/gtsam/inference/Symbol.h:101:34: error: 'const class gtsam::Symbol' has no member named 'j_'
  1429. return comp.c_ != c_ || comp.j_ != j_;
  1430. ^
  1431. /usr/local/include/gtsam/inference/Symbol.h:101:40: error: 'j_' was not declared in this scope
  1432. return comp.c_ != c_ || comp.j_ != j_;
  1433. ^
  1434. /usr/local/include/gtsam/inference/Symbol.h: In member function 'bool gtsam::Symbol::operator!=(int) const':
  1435. /usr/local/include/gtsam/inference/Symbol.h:106:21: error: 'Key' was not declared in this scope
  1436. return comp != (Key)(*this);
  1437. ^
  1438. In file included from /usr/local/include/gtsam/base/Vector.h:255:0,
  1439. from /usr/local/include/gtsam/base/Matrix.h:26,
  1440. from /usr/local/include/gtsam/base/Manifold.h:22,
  1441. from /usr/local/include/gtsam/base/Lie.h:25,
  1442. from /usr/local/include/gtsam/base/VectorSpace.h:11,
  1443. from /usr/local/include/gtsam/geometry/Point2.h:20,
  1444. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:24,
  1445. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  1446. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  1447. /usr/local/include/gtsam/inference/Symbol.h: In member function 'void gtsam::Symbol::serialize(ARCHIVE&, unsigned int)':
  1448. /usr/local/include/gtsam/inference/Symbol.h:123:10: error: 'j_' was not declared in this scope
  1449. ar & BOOST_SERIALIZATION_NVP(j_);
  1450. ^
  1451. In file included from /usr/local/include/gtsam/nonlinear/Symbol.h:21:0,
  1452. from /root/ws/admm-slam/cpp/src/ADMM.h:5,
  1453. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  1454. /usr/local/include/gtsam/inference/Symbol.h: At global scope:
  1455. /usr/local/include/gtsam/inference/Symbol.h:128:8: error: 'Key' does not name a type
  1456. inline Key symbol(unsigned char c, std::uint64_t j) { return (Key)Symbol(c,j); }
  1457. ^
  1458. /usr/local/include/gtsam/inference/Symbol.h:131:32: error: 'gtsam::symbolChr' declared as an 'inline' variable
  1459. inline unsigned char symbolChr(Key key) { return Symbol(key).chr(); }
  1460. ^
  1461. /usr/local/include/gtsam/inference/Symbol.h:131:32: error: 'Key' was not declared in this scope
  1462. /usr/local/include/gtsam/inference/Symbol.h:131:41: error: expected ',' or ';' before '{' token
  1463. inline unsigned char symbolChr(Key key) { return Symbol(key).chr(); }
  1464. ^
  1465. /usr/local/include/gtsam/inference/Symbol.h:134:8: error: 'uint64_t' in namespace 'std' does not name a type
  1466. inline std::uint64_t symbolIndex(Key key) { return Symbol(key).index(); }
  1467. ^
  1468. /usr/local/include/gtsam/inference/Symbol.h:137:8: error: 'Key' does not name a type
  1469. inline Key A(std::uint64_t j) { return Symbol('a', j); }
  1470. ^
  1471. /usr/local/include/gtsam/inference/Symbol.h:138:8: error: 'Key' does not name a type
  1472. inline Key B(std::uint64_t j) { return Symbol('b', j); }
  1473. ^
  1474. /usr/local/include/gtsam/inference/Symbol.h:139:8: error: 'Key' does not name a type
  1475. inline Key C(std::uint64_t j) { return Symbol('c', j); }
  1476. ^
  1477. /usr/local/include/gtsam/inference/Symbol.h:140:8: error: 'Key' does not name a type
  1478. inline Key D(std::uint64_t j) { return Symbol('d', j); }
  1479. ^
  1480. /usr/local/include/gtsam/inference/Symbol.h:141:8: error: 'Key' does not name a type
  1481. inline Key E(std::uint64_t j) { return Symbol('e', j); }
  1482. ^
  1483. /usr/local/include/gtsam/inference/Symbol.h:142:8: error: 'Key' does not name a type
  1484. inline Key F(std::uint64_t j) { return Symbol('f', j); }
  1485. ^
  1486. /usr/local/include/gtsam/inference/Symbol.h:143:8: error: 'Key' does not name a type
  1487. inline Key G(std::uint64_t j) { return Symbol('g', j); }
  1488. ^
  1489. /usr/local/include/gtsam/inference/Symbol.h:144:8: error: 'Key' does not name a type
  1490. inline Key H(std::uint64_t j) { return Symbol('h', j); }
  1491. ^
  1492. /usr/local/include/gtsam/inference/Symbol.h:145:8: error: 'Key' does not name a type
  1493. inline Key I(std::uint64_t j) { return Symbol('i', j); }
  1494. ^
  1495. /usr/local/include/gtsam/inference/Symbol.h:146:8: error: 'Key' does not name a type
  1496. inline Key J(std::uint64_t j) { return Symbol('j', j); }
  1497. ^
  1498. /usr/local/include/gtsam/inference/Symbol.h:147:8: error: 'Key' does not name a type
  1499. inline Key K(std::uint64_t j) { return Symbol('k', j); }
  1500. ^
  1501. /usr/local/include/gtsam/inference/Symbol.h:148:8: error: 'Key' does not name a type
  1502. inline Key L(std::uint64_t j) { return Symbol('l', j); }
  1503. ^
  1504. /usr/local/include/gtsam/inference/Symbol.h:149:8: error: 'Key' does not name a type
  1505. inline Key M(std::uint64_t j) { return Symbol('m', j); }
  1506. ^
  1507. /usr/local/include/gtsam/inference/Symbol.h:150:8: error: 'Key' does not name a type
  1508. inline Key N(std::uint64_t j) { return Symbol('n', j); }
  1509. ^
  1510. /usr/local/include/gtsam/inference/Symbol.h:151:8: error: 'Key' does not name a type
  1511. inline Key O(std::uint64_t j) { return Symbol('o', j); }
  1512. ^
  1513. /usr/local/include/gtsam/inference/Symbol.h:152:8: error: 'Key' does not name a type
  1514. inline Key P(std::uint64_t j) { return Symbol('p', j); }
  1515. ^
  1516. /usr/local/include/gtsam/inference/Symbol.h:153:8: error: 'Key' does not name a type
  1517. inline Key Q(std::uint64_t j) { return Symbol('q', j); }
  1518. ^
  1519. /usr/local/include/gtsam/inference/Symbol.h:154:8: error: 'Key' does not name a type
  1520. inline Key R(std::uint64_t j) { return Symbol('r', j); }
  1521. ^
  1522. /usr/local/include/gtsam/inference/Symbol.h:155:8: error: 'Key' does not name a type
  1523. inline Key S(std::uint64_t j) { return Symbol('s', j); }
  1524. ^
  1525. /usr/local/include/gtsam/inference/Symbol.h:156:8: error: 'Key' does not name a type
  1526. inline Key T(std::uint64_t j) { return Symbol('t', j); }
  1527. ^
  1528. /usr/local/include/gtsam/inference/Symbol.h:157:8: error: 'Key' does not name a type
  1529. inline Key U(std::uint64_t j) { return Symbol('u', j); }
  1530. ^
  1531. /usr/local/include/gtsam/inference/Symbol.h:158:8: error: 'Key' does not name a type
  1532. inline Key V(std::uint64_t j) { return Symbol('v', j); }
  1533. ^
  1534. /usr/local/include/gtsam/inference/Symbol.h:159:8: error: 'Key' does not name a type
  1535. inline Key W(std::uint64_t j) { return Symbol('w', j); }
  1536. ^
  1537. /usr/local/include/gtsam/inference/Symbol.h:160:8: error: 'Key' does not name a type
  1538. inline Key X(std::uint64_t j) { return Symbol('x', j); }
  1539. ^
  1540. /usr/local/include/gtsam/inference/Symbol.h:161:8: error: 'Key' does not name a type
  1541. inline Key Y(std::uint64_t j) { return Symbol('y', j); }
  1542. ^
  1543. /usr/local/include/gtsam/inference/Symbol.h:162:8: error: 'Key' does not name a type
  1544. inline Key Z(std::uint64_t j) { return Symbol('z', j); }
  1545. ^
  1546. In file included from /usr/local/include/gtsam/inference/Ordering.h:22:0,
  1547. from /usr/local/include/gtsam/inference/EliminateableFactorGraph.h:26,
  1548. from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:25,
  1549. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24,
  1550. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
  1551. from /usr/local/include/gtsam/nonlinear/GaussNewtonOptimizer.h:21,
  1552. from /root/ws/admm-slam/cpp/src/ADMM.h:6,
  1553. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  1554. /usr/local/include/gtsam/inference/VariableIndex.h:51:19: error: 'Key' was not declared in this scope
  1555. typedef FastMap<Key,Factors> KeyMap;
  1556. ^
  1557. /usr/local/include/gtsam/inference/VariableIndex.h:51:30: error: template argument 1 is invalid
  1558. typedef FastMap<Key,Factors> KeyMap;
  1559. ^
  1560. /usr/local/include/gtsam/inference/VariableIndex.h:57:19: error: typedef name may not be a nested-name-specifier
  1561. typedef KeyMap::const_iterator const_iterator;
  1562. ^
  1563. /usr/local/include/gtsam/inference/VariableIndex.h:57:19: error: expected ';' at end of member declaration
  1564. /usr/local/include/gtsam/inference/VariableIndex.h:57:34: error: 'const_iterator' does not name a type
  1565. typedef KeyMap::const_iterator const_iterator;
  1566. ^
  1567. /usr/local/include/gtsam/inference/VariableIndex.h:58:19: error: typedef name may not be a nested-name-specifier
  1568. typedef KeyMap::const_iterator iterator;
  1569. ^
  1570. /usr/local/include/gtsam/inference/VariableIndex.h:58:19: error: expected ';' at end of member declaration
  1571. /usr/local/include/gtsam/inference/VariableIndex.h:58:34: error: 'iterator' does not name a type
  1572. typedef KeyMap::const_iterator iterator;
  1573. ^
  1574. /usr/local/include/gtsam/inference/VariableIndex.h:59:19: error: typedef name may not be a nested-name-specifier
  1575. typedef KeyMap::value_type value_type;
  1576. ^
  1577. /usr/local/include/gtsam/inference/VariableIndex.h:59:19: error: expected ';' at end of member declaration
  1578. /usr/local/include/gtsam/inference/VariableIndex.h:59:30: error: 'value_type' does not name a type
  1579. typedef KeyMap::value_type value_type;
  1580. ^
  1581. /usr/local/include/gtsam/inference/VariableIndex.h:93:29: error: declaration of 'operator[]' as non-function
  1582. const Factors& operator[](Key variable) const {
  1583. ^
  1584. /usr/local/include/gtsam/inference/VariableIndex.h:93:27: error: expected ';' at end of member declaration
  1585. const Factors& operator[](Key variable) const {
  1586. ^
  1587. /usr/local/include/gtsam/inference/VariableIndex.h:93:33: error: expected ')' before 'variable'
  1588. const Factors& operator[](Key variable) const {
  1589. ^
  1590. /usr/local/include/gtsam/inference/VariableIndex.h:148:3: error: 'const_iterator' does not name a type
  1591. const_iterator begin() const { return index_.begin(); }
  1592. ^
  1593. /usr/local/include/gtsam/inference/VariableIndex.h:151:3: error: 'const_iterator' does not name a type
  1594. const_iterator end() const { return index_.end(); }
  1595. ^
  1596. /usr/local/include/gtsam/inference/VariableIndex.h:154:3: error: 'const_iterator' does not name a type
  1597. const_iterator find(Key key) const { return index_.find(key); }
  1598. ^
  1599. /usr/local/include/gtsam/inference/VariableIndex.h:157:32: error: 'Key' has not been declared
  1600. Factor_iterator factorsBegin(Key variable) { return internalAt(variable).begin(); }
  1601. ^
  1602. /usr/local/include/gtsam/inference/VariableIndex.h:158:30: error: 'Key' has not been declared
  1603. Factor_iterator factorsEnd(Key variable) { return internalAt(variable).end(); }
  1604. ^
  1605. /usr/local/include/gtsam/inference/VariableIndex.h:160:38: error: 'Key' has not been declared
  1606. Factor_const_iterator factorsBegin(Key variable) const { return internalAt(variable).begin(); }
  1607. ^
  1608. /usr/local/include/gtsam/inference/VariableIndex.h:161:36: error: 'Key' has not been declared
  1609. Factor_const_iterator factorsEnd(Key variable) const { return internalAt(variable).end(); }
  1610. ^
  1611. /usr/local/include/gtsam/inference/VariableIndex.h:164:18: error: expected ';' at end of member declaration
  1612. const Factors& internalAt(Key variable) const {
  1613. ^
  1614. /usr/local/include/gtsam/inference/VariableIndex.h:164:33: error: expected ')' before 'variable'
  1615. const Factors& internalAt(Key variable) const {
  1616. ^
  1617. /usr/local/include/gtsam/inference/VariableIndex.h:170:12: error: expected ';' at end of member declaration
  1618. Factors& internalAt(Key variable) {
  1619. ^
  1620. /usr/local/include/gtsam/inference/VariableIndex.h:170:23: error: redeclaration of 'gtsam::VariableIndex::Factors& gtsam::VariableIndex::internalAt'
  1621. Factors& internalAt(Key variable) {
  1622. ^
  1623. /usr/local/include/gtsam/inference/VariableIndex.h:164:29: note: previous declaration 'const Factors& gtsam::VariableIndex::internalAt'
  1624. const Factors& internalAt(Key variable) const {
  1625. ^
  1626. /usr/local/include/gtsam/inference/VariableIndex.h:170:27: error: expected ')' before 'variable'
  1627. Factors& internalAt(Key variable) {
  1628. ^
  1629. /usr/local/include/gtsam/inference/VariableIndex.h: In constructor 'gtsam::VariableIndex::VariableIndex()':
  1630. /usr/local/include/gtsam/inference/VariableIndex.h:67:3: error: uninitialized reference member 'gtsam::VariableIndex::internalAt' [-fpermissive]
  1631. VariableIndex() : nFactors_(0), nEntries_(0) {}
  1632. ^
  1633. /usr/local/include/gtsam/inference/VariableIndex.h: In member function 'std::size_t gtsam::VariableIndex::size() const':
  1634. /usr/local/include/gtsam/inference/VariableIndex.h:84:39: error: request for member 'size' in '((const gtsam::VariableIndex*)this)->gtsam::VariableIndex::index_', which is of non-class type 'const KeyMap {aka const int}'
  1635. size_t size() const { return index_.size(); }
  1636. ^
  1637. /usr/local/include/gtsam/inference/VariableIndex.h: In member function 'gtsam::VariableIndex::Factor_iterator gtsam::VariableIndex::factorsBegin(int)':
  1638. /usr/local/include/gtsam/inference/VariableIndex.h:157:74: error: no match for call to '(const Factors {aka const gtsam::FastVector<long unsigned int>}) (int&)'
  1639. Factor_iterator factorsBegin(Key variable) { return internalAt(variable).begin(); }
  1640. ^
  1641. /usr/local/include/gtsam/inference/VariableIndex.h: In member function 'gtsam::VariableIndex::Factor_iterator gtsam::VariableIndex::factorsEnd(int)':
  1642. /usr/local/include/gtsam/inference/VariableIndex.h:158:72: error: no match for call to '(const Factors {aka const gtsam::FastVector<long unsigned int>}) (int&)'
  1643. Factor_iterator factorsEnd(Key variable) { return internalAt(variable).end(); }
  1644. ^
  1645. /usr/local/include/gtsam/inference/VariableIndex.h: In member function 'gtsam::VariableIndex::Factor_const_iterator gtsam::VariableIndex::factorsBegin(int) const':
  1646. /usr/local/include/gtsam/inference/VariableIndex.h:160:86: error: no match for call to '(const Factors {aka const gtsam::FastVector<long unsigned int>}) (int&)'
  1647. Factor_const_iterator factorsBegin(Key variable) const { return internalAt(variable).begin(); }
  1648. ^
  1649. /usr/local/include/gtsam/inference/VariableIndex.h: In member function 'gtsam::VariableIndex::Factor_const_iterator gtsam::VariableIndex::factorsEnd(int) const':
  1650. /usr/local/include/gtsam/inference/VariableIndex.h:161:84: error: no match for call to '(const Factors {aka const gtsam::FastVector<long unsigned int>}) (int&)'
  1651. Factor_const_iterator factorsEnd(Key variable) const { return internalAt(variable).end(); }
  1652. ^
  1653. In file included from /usr/local/include/gtsam/inference/VariableIndex.h:185:0,
  1654. from /usr/local/include/gtsam/inference/Ordering.h:22,
  1655. from /usr/local/include/gtsam/inference/EliminateableFactorGraph.h:26,
  1656. from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:25,
  1657. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24,
  1658. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
  1659. from /usr/local/include/gtsam/nonlinear/GaussNewtonOptimizer.h:21,
  1660. from /root/ws/admm-slam/cpp/src/ADMM.h:6,
  1661. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  1662. /usr/local/include/gtsam/inference/VariableIndex-inl.h: In member function 'void gtsam::VariableIndex::augment(const FG&, boost::optional<const gtsam::FastVector<long unsigned int>&>)':
  1663. /usr/local/include/gtsam/inference/VariableIndex-inl.h:36:17: error: 'Key' does not name a type
  1664. for(const Key key: *factors[i]) {
  1665. ^
  1666. /usr/local/include/gtsam/inference/VariableIndex-inl.h:40:5: error: expected ';' before '}' token
  1667. }
  1668. ^
  1669. /usr/local/include/gtsam/inference/VariableIndex-inl.h:40:5: error: expected primary-expression before '}' token
  1670. /usr/local/include/gtsam/inference/VariableIndex-inl.h:40:5: error: expected ';' before '}' token
  1671. /usr/local/include/gtsam/inference/VariableIndex-inl.h:40:5: error: expected primary-expression before '}' token
  1672. /usr/local/include/gtsam/inference/VariableIndex-inl.h:40:5: error: expected ')' before '}' token
  1673. /usr/local/include/gtsam/inference/VariableIndex-inl.h:40:5: error: expected primary-expression before '}' token
  1674. /usr/local/include/gtsam/inference/VariableIndex-inl.h:40:5: error: expected ';' before '}' token
  1675. /usr/local/include/gtsam/inference/VariableIndex-inl.h: In member function 'void gtsam::VariableIndex::remove(ITERATOR, ITERATOR, const FG&)':
  1676. /usr/local/include/gtsam/inference/VariableIndex-inl.h:69:11: error: 'Key' was not declared in this scope
  1677. for(Key j: *factors[i]) {
  1678. ^
  1679. /usr/local/include/gtsam/inference/VariableIndex-inl.h:69:15: error: expected ';' before 'j'
  1680. for(Key j: *factors[i]) {
  1681. ^
  1682. In file included from /usr/local/include/gtsam/inference/VariableIndex.h:185:0,
  1683. from /usr/local/include/gtsam/inference/Ordering.h:22,
  1684. from /usr/local/include/gtsam/inference/EliminateableFactorGraph.h:26,
  1685. from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:25,
  1686. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24,
  1687. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
  1688. from /usr/local/include/gtsam/nonlinear/GaussNewtonOptimizer.h:21,
  1689. from /root/ws/admm-slam/cpp/src/ADMM.h:6,
  1690. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  1691. /usr/local/include/gtsam/inference/VariableIndex-inl.h:79:5: error: expected primary-expression before '}' token
  1692. }
  1693. ^
  1694. /usr/local/include/gtsam/inference/VariableIndex-inl.h:79:5: error: expected ';' before '}' token
  1695. /usr/local/include/gtsam/inference/VariableIndex-inl.h:79:5: error: expected primary-expression before '}' token
  1696. /usr/local/include/gtsam/inference/VariableIndex-inl.h:79:5: error: expected ')' before '}' token
  1697. /usr/local/include/gtsam/inference/VariableIndex-inl.h:79:5: error: expected primary-expression before '}' token
  1698. /usr/local/include/gtsam/inference/VariableIndex-inl.h:79:5: error: expected ';' before '}' token
  1699. /usr/local/include/gtsam/inference/VariableIndex-inl.h: In member function 'void gtsam::VariableIndex::removeUnusedVariables(ITERATOR, ITERATOR)':
  1700. /usr/local/include/gtsam/inference/VariableIndex-inl.h:87:22: error: expected initializer before 'entry'
  1701. KeyMap::iterator entry = index_.find(*key);
  1702. ^
  1703. /usr/local/include/gtsam/inference/VariableIndex-inl.h:88:10: error: 'entry' was not declared in this scope
  1704. if (!entry->second.empty())
  1705. ^
  1706. /usr/local/include/gtsam/inference/VariableIndex-inl.h:91:12: error: request for member 'erase' in '((gtsam::VariableIndex*)this)->gtsam::VariableIndex::index_', which is of non-class type 'gtsam::VariableIndex::KeyMap {aka int}'
  1707. index_.erase(entry);
  1708. ^
  1709. /usr/local/include/gtsam/inference/VariableIndex-inl.h:91:18: error: 'entry' was not declared in this scope
  1710. index_.erase(entry);
  1711. ^
  1712. In file included from /usr/local/include/gtsam/inference/Ordering.h:23:0,
  1713. from /usr/local/include/gtsam/inference/EliminateableFactorGraph.h:26,
  1714. from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:25,
  1715. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24,
  1716. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
  1717. from /usr/local/include/gtsam/nonlinear/GaussNewtonOptimizer.h:21,
  1718. from /root/ws/admm-slam/cpp/src/ADMM.h:6,
  1719. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  1720. /usr/local/include/gtsam/inference/MetisIndex.h: At global scope:
  1721. /usr/local/include/gtsam/inference/MetisIndex.h:49:24: error: 'Key' was not declared in this scope
  1722. typedef boost::bimap<Key, int32_t> bm_type;
  1723. ^
  1724. /usr/local/include/gtsam/inference/MetisIndex.h:49:36: error: template argument 1 is invalid
  1725. typedef boost::bimap<Key, int32_t> bm_type;
  1726. ^
  1727. /usr/local/include/gtsam/inference/MetisIndex.h:55:16: error: 'Key' was not declared in this scope
  1728. boost::bimap<Key, int32_t> intKeyBMap_; // Stores Key <-> integer value relationship
  1729. ^
  1730. /usr/local/include/gtsam/inference/MetisIndex.h:55:28: error: template argument 1 is invalid
  1731. boost::bimap<Key, int32_t> intKeyBMap_; // Stores Key <-> integer value relationship
  1732. ^
  1733. /usr/local/include/gtsam/inference/MetisIndex.h:95:3: error: 'Key' does not name a type
  1734. Key intToKey(int32_t value) const {
  1735. ^
  1736. In file included from /usr/local/include/gtsam/inference/MetisIndex.h:105:0,
  1737. from /usr/local/include/gtsam/inference/Ordering.h:23,
  1738. from /usr/local/include/gtsam/inference/EliminateableFactorGraph.h:26,
  1739. from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:25,
  1740. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24,
  1741. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
  1742. from /usr/local/include/gtsam/nonlinear/GaussNewtonOptimizer.h:21,
  1743. from /root/ws/admm-slam/cpp/src/ADMM.h:6,
  1744. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  1745. /usr/local/include/gtsam/inference/MetisIndex-inl.h: In member function 'void gtsam::MetisIndex::augment(const gtsam::FactorGraph<DERIVEDFACTOR>&)':
  1746. /usr/local/include/gtsam/inference/MetisIndex-inl.h:30:12: error: 'Key' was not declared in this scope
  1747. std::set<Key> keySet;
  1748. ^
  1749. /usr/local/include/gtsam/inference/MetisIndex-inl.h:30:15: error: template argument 1 is invalid
  1750. std::set<Key> keySet;
  1751. ^
  1752. /usr/local/include/gtsam/inference/MetisIndex-inl.h:30:15: error: template argument 2 is invalid
  1753. /usr/local/include/gtsam/inference/MetisIndex-inl.h:30:15: error: template argument 3 is invalid
  1754. /usr/local/include/gtsam/inference/MetisIndex-inl.h:30:23: error: invalid type in declaration before ';' token
  1755. std::set<Key> keySet;
  1756. ^
  1757. /usr/local/include/gtsam/inference/MetisIndex-inl.h:44:17: error: 'Key' does not name a type
  1758. for(const Key& key: *factors[i]) {
  1759. ^
  1760. /usr/local/include/gtsam/inference/MetisIndex-inl.h:51:5: error: expected ';' before '}' token
  1761. }
  1762. ^
  1763. /usr/local/include/gtsam/inference/MetisIndex-inl.h:51:5: error: expected primary-expression before '}' token
  1764. /usr/local/include/gtsam/inference/MetisIndex-inl.h:51:5: error: expected ';' before '}' token
  1765. /usr/local/include/gtsam/inference/MetisIndex-inl.h:51:5: error: expected primary-expression before '}' token
  1766. /usr/local/include/gtsam/inference/MetisIndex-inl.h:51:5: error: expected ')' before '}' token
  1767. /usr/local/include/gtsam/inference/MetisIndex-inl.h:51:5: error: expected primary-expression before '}' token
  1768. /usr/local/include/gtsam/inference/MetisIndex-inl.h:51:5: error: expected ';' before '}' token
  1769. /usr/local/include/gtsam/inference/MetisIndex-inl.h:57:17: error: 'Key' does not name a type
  1770. for(const Key& k1: *factors[i])
  1771. ^
  1772. /usr/local/include/gtsam/inference/MetisIndex-inl.h:65:5: error: expected ';' before '}' token
  1773. }
  1774. ^
  1775. /usr/local/include/gtsam/inference/MetisIndex-inl.h:65:5: error: expected primary-expression before '}' token
  1776. /usr/local/include/gtsam/inference/MetisIndex-inl.h:65:5: error: expected ';' before '}' token
  1777. /usr/local/include/gtsam/inference/MetisIndex-inl.h:65:5: error: expected primary-expression before '}' token
  1778. /usr/local/include/gtsam/inference/MetisIndex-inl.h:65:5: error: expected ')' before '}' token
  1779. /usr/local/include/gtsam/inference/MetisIndex-inl.h:65:5: error: expected primary-expression before '}' token
  1780. /usr/local/include/gtsam/inference/MetisIndex-inl.h:65:5: error: expected ';' before '}' token
  1781. /usr/local/include/gtsam/inference/MetisIndex-inl.h:69:19: error: request for member 'size' in 'keySet', which is of non-class type 'int'
  1782. nKeys_ = keySet.size();
  1783. ^
  1784. In file included from /usr/local/include/gtsam/inference/EliminateableFactorGraph.h:26:0,
  1785. from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:25,
  1786. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24,
  1787. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
  1788. from /usr/local/include/gtsam/nonlinear/GaussNewtonOptimizer.h:21,
  1789. from /root/ws/admm-slam/cpp/src/ADMM.h:6,
  1790. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  1791. /usr/local/include/gtsam/inference/Ordering.h: At global scope:
  1792. /usr/local/include/gtsam/inference/Ordering.h:33:36: error: 'Key' was not declared in this scope
  1793. class Ordering: public std::vector<Key> {
  1794. ^
  1795. /usr/local/include/gtsam/inference/Ordering.h:33:39: error: template argument 1 is invalid
  1796. class Ordering: public std::vector<Key> {
  1797. ^
  1798. /usr/local/include/gtsam/inference/Ordering.h:33:39: error: template argument 2 is invalid
  1799. /usr/local/include/gtsam/inference/Ordering.h:35:23: error: 'Key' was not declared in this scope
  1800. typedef std::vector<Key> Base;
  1801. ^
  1802. /usr/local/include/gtsam/inference/Ordering.h:35:26: error: template argument 1 is invalid
  1803. typedef std::vector<Key> Base;
  1804. ^
  1805. /usr/local/include/gtsam/inference/Ordering.h:35:26: error: template argument 2 is invalid
  1806. /usr/local/include/gtsam/inference/Ordering.h:67:7: error: 'Key' has not been declared
  1807. Key key) {
  1808. ^
  1809. /usr/local/include/gtsam/inference/Ordering.h:73:11: error: 'Key' was not declared in this scope
  1810. FastMap<Key, size_t> invert() const;
  1811. ^
  1812. /usr/local/include/gtsam/inference/Ordering.h:73:22: error: template argument 1 is invalid
  1813. FastMap<Key, size_t> invert() const;
  1814. ^
  1815. /usr/local/include/gtsam/inference/Ordering.h:101:25: error: 'Key' was not declared in this scope
  1816. const std::vector<Key>& constrainLast, bool forceOrder = false) {
  1817. ^
  1818. /usr/local/include/gtsam/inference/Ordering.h:101:28: error: template argument 1 is invalid
  1819. const std::vector<Key>& constrainLast, bool forceOrder = false) {
  1820. ^
  1821. /usr/local/include/gtsam/inference/Ordering.h:101:28: error: template argument 2 is invalid
  1822. /usr/local/include/gtsam/inference/Ordering.h:115:61: error: 'Key' was not declared in this scope
  1823. const VariableIndex& variableIndex, const std::vector<Key>& constrainLast,
  1824. ^
  1825. /usr/local/include/gtsam/inference/Ordering.h:115:64: error: template argument 1 is invalid
  1826. const VariableIndex& variableIndex, const std::vector<Key>& constrainLast,
  1827. ^
  1828. /usr/local/include/gtsam/inference/Ordering.h:115:64: error: template argument 2 is invalid
  1829. /usr/local/include/gtsam/inference/Ordering.h:128:25: error: 'Key' was not declared in this scope
  1830. const std::vector<Key>& constrainFirst, bool forceOrder = false) {
  1831. ^
  1832. /usr/local/include/gtsam/inference/Ordering.h:128:28: error: template argument 1 is invalid
  1833. const std::vector<Key>& constrainFirst, bool forceOrder = false) {
  1834. ^
  1835. /usr/local/include/gtsam/inference/Ordering.h:128:28: error: template argument 2 is invalid
  1836. /usr/local/include/gtsam/inference/Ordering.h:144:25: error: 'Key' was not declared in this scope
  1837. const std::vector<Key>& constrainFirst, bool forceOrder = false);
  1838. ^
  1839. /usr/local/include/gtsam/inference/Ordering.h:144:28: error: template argument 1 is invalid
  1840. const std::vector<Key>& constrainFirst, bool forceOrder = false);
  1841. ^
  1842. /usr/local/include/gtsam/inference/Ordering.h:144:28: error: template argument 2 is invalid
  1843. /usr/local/include/gtsam/inference/Ordering.h:157:21: error: 'Key' was not declared in this scope
  1844. const FastMap<Key, int>& groups) {
  1845. ^
  1846. /usr/local/include/gtsam/inference/Ordering.h:157:29: error: template argument 1 is invalid
  1847. const FastMap<Key, int>& groups) {
  1848. ^
  1849. /usr/local/include/gtsam/inference/Ordering.h:172:57: error: 'Key' was not declared in this scope
  1850. const VariableIndex& variableIndex, const FastMap<Key, int>& groups);
  1851. ^
  1852. /usr/local/include/gtsam/inference/Ordering.h:172:65: error: template argument 1 is invalid
  1853. const VariableIndex& variableIndex, const FastMap<Key, int>& groups);
  1854. ^
  1855. /usr/local/include/gtsam/inference/Ordering.h: In constructor 'gtsam::Ordering::Ordering(const KEYS&)':
  1856. /usr/local/include/gtsam/inference/Ordering.h:55:7: error: 'typedef int gtsam::Ordering::Base' is not a non-static data member of 'gtsam::Ordering'
  1857. Base(keys.begin(), keys.end()) {
  1858. ^
  1859. /usr/local/include/gtsam/inference/Ordering.h: In constructor 'gtsam::Ordering::Ordering(ITERATOR, ITERATOR)':
  1860. /usr/local/include/gtsam/inference/Ordering.h:61:7: error: 'typedef int gtsam::Ordering::Base' is not a non-static data member of 'gtsam::Ordering'
  1861. Base(firstKey, lastKey) {
  1862. ^
  1863. /usr/local/include/gtsam/inference/Ordering.h: In static member function 'static gtsam::Ordering gtsam::Ordering::Natural(const gtsam::FactorGraph<DERIVEDFACTOR>&)':
  1864. /usr/local/include/gtsam/inference/Ordering.h:178:17: error: 'Key' was not declared in this scope
  1865. std::vector<Key> keys(src.begin(), src.end());
  1866. ^
  1867. /usr/local/include/gtsam/inference/Ordering.h:178:20: error: template argument 1 is invalid
  1868. std::vector<Key> keys(src.begin(), src.end());
  1869. ^
  1870. /usr/local/include/gtsam/inference/Ordering.h:178:20: error: template argument 2 is invalid
  1871. /usr/local/include/gtsam/inference/Ordering.h:178:26: error: invalid type in declaration before '(' token
  1872. std::vector<Key> keys(src.begin(), src.end());
  1873. ^
  1874. /usr/local/include/gtsam/inference/Ordering.h:178:31: error: request for member 'begin' in 'src', which is of non-class type 'gtsam::KeySet {aka int}'
  1875. std::vector<Key> keys(src.begin(), src.end());
  1876. ^
  1877. /usr/local/include/gtsam/inference/Ordering.h:178:44: error: request for member 'end' in 'src', which is of non-class type 'gtsam::KeySet {aka int}'
  1878. std::vector<Key> keys(src.begin(), src.end());
  1879. ^
  1880. /usr/local/include/gtsam/inference/Ordering.h:178:49: error: expression list treated as compound expression in initializer [-fpermissive]
  1881. std::vector<Key> keys(src.begin(), src.end());
  1882. ^
  1883. /usr/local/include/gtsam/inference/Ordering.h:179:27: error: request for member 'begin' in 'keys', which is of non-class type 'int'
  1884. std::stable_sort(keys.begin(), keys.end());
  1885. ^
  1886. /usr/local/include/gtsam/inference/Ordering.h:179:41: error: request for member 'end' in 'keys', which is of non-class type 'int'
  1887. std::stable_sort(keys.begin(), keys.end());
  1888. ^
  1889. In file included from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:25:0,
  1890. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24,
  1891. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
  1892. from /usr/local/include/gtsam/nonlinear/GaussNewtonOptimizer.h:21,
  1893. from /root/ws/admm-slam/cpp/src/ADMM.h:6,
  1894. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  1895. /usr/local/include/gtsam/inference/EliminateableFactorGraph.h: At global scope:
  1896. /usr/local/include/gtsam/inference/EliminateableFactorGraph.h:173:25: error: 'Key' was not declared in this scope
  1897. const std::vector<Key>& variables,
  1898. ^
  1899. /usr/local/include/gtsam/inference/EliminateableFactorGraph.h:173:28: error: template argument 1 is invalid
  1900. const std::vector<Key>& variables,
  1901. ^
  1902. /usr/local/include/gtsam/inference/EliminateableFactorGraph.h:173:28: error: template argument 2 is invalid
  1903. /usr/local/include/gtsam/inference/EliminateableFactorGraph.h:193:25: error: 'Key' was not declared in this scope
  1904. const std::vector<Key>& variables,
  1905. ^
  1906. /usr/local/include/gtsam/inference/EliminateableFactorGraph.h:193:28: error: template argument 1 is invalid
  1907. const std::vector<Key>& variables,
  1908. ^
  1909. /usr/local/include/gtsam/inference/EliminateableFactorGraph.h:193:28: error: template argument 2 is invalid
  1910. /usr/local/include/gtsam/inference/EliminateableFactorGraph.h:209:57: error: 'Key' was not declared in this scope
  1911. boost::variant<const Ordering&, const std::vector<Key>&> variables,
  1912. ^
  1913. /usr/local/include/gtsam/inference/EliminateableFactorGraph.h:209:60: error: template argument 1 is invalid
  1914. boost::variant<const Ordering&, const std::vector<Key>&> variables,
  1915. ^
  1916. /usr/local/include/gtsam/inference/EliminateableFactorGraph.h:209:60: error: template argument 2 is invalid
  1917. /usr/local/include/gtsam/inference/EliminateableFactorGraph.h:209:62: error: template argument 2 is invalid
  1918. boost::variant<const Ordering&, const std::vector<Key>&> variables,
  1919. ^
  1920. /usr/local/include/gtsam/inference/EliminateableFactorGraph.h:209:62: error: template argument 2 is invalid
  1921. /usr/local/include/gtsam/inference/EliminateableFactorGraph.h:209:14: error: 'boost::variant' is not a type
  1922. boost::variant<const Ordering&, const std::vector<Key>&> variables,
  1923. ^
  1924. /usr/local/include/gtsam/inference/EliminateableFactorGraph.h:209:21: error: expected ',' or '...' before '<' token
  1925. boost::variant<const Ordering&, const std::vector<Key>&> variables,
  1926. ^
  1927. /usr/local/include/gtsam/inference/EliminateableFactorGraph.h:226:57: error: 'Key' was not declared in this scope
  1928. boost::variant<const Ordering&, const std::vector<Key>&> variables,
  1929. ^
  1930. /usr/local/include/gtsam/inference/EliminateableFactorGraph.h:226:60: error: template argument 1 is invalid
  1931. boost::variant<const Ordering&, const std::vector<Key>&> variables,
  1932. ^
  1933. /usr/local/include/gtsam/inference/EliminateableFactorGraph.h:226:60: error: template argument 2 is invalid
  1934. /usr/local/include/gtsam/inference/EliminateableFactorGraph.h:226:62: error: template argument 2 is invalid
  1935. boost::variant<const Ordering&, const std::vector<Key>&> variables,
  1936. ^
  1937. /usr/local/include/gtsam/inference/EliminateableFactorGraph.h:226:62: error: template argument 2 is invalid
  1938. /usr/local/include/gtsam/inference/EliminateableFactorGraph.h:226:14: error: 'boost::variant' is not a type
  1939. boost::variant<const Ordering&, const std::vector<Key>&> variables,
  1940. ^
  1941. /usr/local/include/gtsam/inference/EliminateableFactorGraph.h:226:21: error: expected ',' or '...' before '<' token
  1942. boost::variant<const Ordering&, const std::vector<Key>&> variables,
  1943. ^
  1944. /usr/local/include/gtsam/inference/EliminateableFactorGraph.h:233:25: error: 'Key' was not declared in this scope
  1945. const std::vector<Key>& variables,
  1946. ^
  1947. /usr/local/include/gtsam/inference/EliminateableFactorGraph.h:233:28: error: template argument 1 is invalid
  1948. const std::vector<Key>& variables,
  1949. ^
  1950. /usr/local/include/gtsam/inference/EliminateableFactorGraph.h:233:28: error: template argument 2 is invalid
  1951. In file included from /usr/local/include/gtsam/linear/HessianFactor.h:22:0,
  1952. from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28,
  1953. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24,
  1954. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
  1955. from /usr/local/include/gtsam/nonlinear/GaussNewtonOptimizer.h:21,
  1956. from /root/ws/admm-slam/cpp/src/ADMM.h:6,
  1957. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  1958. /usr/local/include/gtsam/linear/Scatter.h:35:3: error: 'Key' does not name a type
  1959. Key key;
  1960. ^
  1961. /usr/local/include/gtsam/linear/Scatter.h:37:17: error: expected ')' before '_key'
  1962. SlotEntry(Key _key, size_t _dimension) : key(_key), dimension(_dimension) {}
  1963. ^
  1964. /usr/local/include/gtsam/linear/Scatter.h: In function 'bool gtsam::operator<(const gtsam::SlotEntry&, const gtsam::SlotEntry&)':
  1965. /usr/local/include/gtsam/linear/Scatter.h:40:14: error: 'const struct gtsam::SlotEntry' has no member named 'key'
  1966. return p.key < q.key;
  1967. ^
  1968. /usr/local/include/gtsam/linear/Scatter.h:40:22: error: 'const struct gtsam::SlotEntry' has no member named 'key'
  1969. return p.key < q.key;
  1970. ^
  1971. /usr/local/include/gtsam/linear/Scatter.h: At global scope:
  1972. /usr/local/include/gtsam/linear/Scatter.h:61:12: error: 'Key' has not been declared
  1973. void add(Key key, size_t dim);
  1974. ^
  1975. /usr/local/include/gtsam/linear/Scatter.h:66:17: error: 'Key' has not been declared
  1976. iterator find(Key key);
  1977. ^
  1978. In file included from /usr/local/include/gtsam/linear/HessianFactor.h:23:0,
  1979. from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28,
  1980. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24,
  1981. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
  1982. from /usr/local/include/gtsam/nonlinear/GaussNewtonOptimizer.h:21,
  1983. from /root/ws/admm-slam/cpp/src/ADMM.h:6,
  1984. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  1985. /usr/local/include/gtsam/base/SymmetricBlockMatrix.h:359:5: error: 'array' in namespace 'std' does not name a type
  1986. std::array<DenseIndex, 4> calcIndices(DenseIndex iBlock, DenseIndex jBlock,
  1987. ^
  1988. /usr/local/include/gtsam/base/SymmetricBlockMatrix.h: In member function 'gtsam::DenseIndex gtsam::SymmetricBlockMatrix::getDim(gtsam::DenseIndex) const':
  1989. /usr/local/include/gtsam/base/SymmetricBlockMatrix.h:129:44: error: 'calcIndices' was not declared in this scope
  1990. return calcIndices(block, block, 1, 1)[2];
  1991. ^
  1992. /usr/local/include/gtsam/base/SymmetricBlockMatrix.h: In member function 'void gtsam::SymmetricBlockMatrix::updateDiagonalBlock(gtsam::DenseIndex, const XprType&)':
  1993. /usr/local/include/gtsam/base/SymmetricBlockMatrix.h:220:12: error: 'dest' does not name a type
  1994. auto dest = block_(I, I);
  1995. ^
  1996. In file included from /usr/include/c++/4.8/cassert:43:0,
  1997. from /usr/local/include/gtsam/base/SymmetricBlockMatrix.h:25,
  1998. from /usr/local/include/gtsam/linear/HessianFactor.h:23,
  1999. from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28,
  2000. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24,
  2001. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
  2002. from /usr/local/include/gtsam/nonlinear/GaussNewtonOptimizer.h:21,
  2003. from /root/ws/admm-slam/cpp/src/ADMM.h:6,
  2004. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2005. /usr/local/include/gtsam/base/SymmetricBlockMatrix.h:221:7: error: 'dest' was not declared in this scope
  2006. assert(dest.rows() == xpr.rows());
  2007. ^
  2008. In file included from /usr/local/include/gtsam/linear/HessianFactor.h:23:0,
  2009. from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28,
  2010. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24,
  2011. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
  2012. from /usr/local/include/gtsam/nonlinear/GaussNewtonOptimizer.h:21,
  2013. from /root/ws/admm-slam/cpp/src/ADMM.h:6,
  2014. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2015. /usr/local/include/gtsam/base/SymmetricBlockMatrix.h: In member function 'void gtsam::SymmetricBlockMatrix::invertInPlace()':
  2016. /usr/local/include/gtsam/base/SymmetricBlockMatrix.h:274:18: error: 'identity' does not name a type
  2017. const auto identity = Matrix::Identity(rows(), rows());
  2018. ^
  2019. /usr/local/include/gtsam/base/SymmetricBlockMatrix.h:278:22: error: 'identity' was not declared in this scope
  2020. .solve(identity)
  2021. ^
  2022. /usr/local/include/gtsam/base/SymmetricBlockMatrix.h:278:22: note: suggested alternatives:
  2023. In file included from /usr/include/boost/iterator/iterator_categories.hpp:16:0,
  2024. from /usr/include/boost/iterator/iterator_concepts.hpp:10,
  2025. from /usr/include/boost/range/concepts.hpp:20,
  2026. from /usr/local/include/gtsam/base/types.h:24,
  2027. from /usr/local/include/gtsam/global_includes.h:22,
  2028. from /usr/local/include/gtsam/base/Vector.h:27,
  2029. from /usr/local/include/gtsam/base/Matrix.h:26,
  2030. from /usr/local/include/gtsam/base/Manifold.h:22,
  2031. from /usr/local/include/gtsam/base/Lie.h:25,
  2032. from /usr/local/include/gtsam/base/VectorSpace.h:11,
  2033. from /usr/local/include/gtsam/geometry/Point2.h:20,
  2034. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:24,
  2035. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  2036. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2037. /usr/include/boost/mpl/identity.hpp:25:8: note: 'boost::mpl::identity'
  2038. struct identity
  2039. ^
  2040. In file included from /usr/include/boost/move/core.hpp:38:0,
  2041. from /usr/include/boost/move/utility.hpp:18,
  2042. from /usr/include/boost/thread/detail/move.hpp:20,
  2043. from /usr/include/boost/thread/lock_types.hpp:11,
  2044. from /usr/include/boost/thread/pthread/mutex.hpp:14,
  2045. from /usr/include/boost/thread/mutex.hpp:16,
  2046. from /usr/include/boost/pool/detail/mutex.hpp:14,
  2047. from /usr/include/boost/pool/poolfwd.hpp:24,
  2048. from /usr/include/boost/pool/pool_alloc.hpp:75,
  2049. from /usr/local/include/gtsam/base/GenericValue.h:26,
  2050. from /usr/local/include/gtsam/nonlinear/Values.h:27,
  2051. from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:23,
  2052. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:25,
  2053. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  2054. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2055. /usr/include/boost/move/detail/meta_utils.hpp:70:8: note: 'boost::move_detail::identity'
  2056. struct identity
  2057. ^
  2058. In file included from /usr/include/boost/multi_index/identity.hpp:18:0,
  2059. from /usr/include/boost/multi_index_container_fwd.hpp:17,
  2060. from /usr/include/boost/multi_index_container.hpp:30,
  2061. from /usr/include/boost/bimap/detail/bimap_core.hpp:34,
  2062. from /usr/include/boost/bimap/bimap.hpp:61,
  2063. from /usr/include/boost/bimap.hpp:13,
  2064. from /usr/local/include/gtsam/inference/MetisIndex.h:31,
  2065. from /usr/local/include/gtsam/inference/Ordering.h:23,
  2066. from /usr/local/include/gtsam/inference/EliminateableFactorGraph.h:26,
  2067. from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:25,
  2068. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24,
  2069. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
  2070. from /usr/local/include/gtsam/nonlinear/GaussNewtonOptimizer.h:21,
  2071. from /root/ws/admm-slam/cpp/src/ADMM.h:6,
  2072. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2073. /usr/include/boost/multi_index/identity_fwd.hpp:20:29: note: 'boost::multi_index::identity'
  2074. template<class Type> struct identity;
  2075. ^
  2076. In file included from /usr/local/include/gtsam/linear/HessianFactor.h:23:0,
  2077. from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28,
  2078. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24,
  2079. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
  2080. from /usr/local/include/gtsam/nonlinear/GaussNewtonOptimizer.h:21,
  2081. from /root/ws/admm-slam/cpp/src/ADMM.h:6,
  2082. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2083. /usr/local/include/gtsam/base/SymmetricBlockMatrix.h:279:45: error: expected primary-expression before ')' token
  2084. .triangularView<Eigen::Upper>();
  2085. ^
  2086. /usr/local/include/gtsam/base/SymmetricBlockMatrix.h: In member function 'gtsam::SymmetricBlockMatrix::constBlock gtsam::SymmetricBlockMatrix::block_(gtsam::DenseIndex, gtsam::DenseIndex, gtsam::DenseIndex, gtsam::DenseIndex) const':
  2087. /usr/local/include/gtsam/base/SymmetricBlockMatrix.h:335:13: error: 'array' in namespace 'std' does not name a type
  2088. const std::array<DenseIndex, 4> indices =
  2089. ^
  2090. /usr/local/include/gtsam/base/SymmetricBlockMatrix.h:337:28: error: 'indices' was not declared in this scope
  2091. return matrix_.block(indices[0], indices[1], indices[2], indices[3]);
  2092. ^
  2093. /usr/local/include/gtsam/base/SymmetricBlockMatrix.h: In member function 'gtsam::SymmetricBlockMatrix::Block gtsam::SymmetricBlockMatrix::block_(gtsam::DenseIndex, gtsam::DenseIndex, gtsam::DenseIndex, gtsam::DenseIndex)':
  2094. /usr/local/include/gtsam/base/SymmetricBlockMatrix.h:343:13: error: 'array' in namespace 'std' does not name a type
  2095. const std::array<DenseIndex, 4> indices =
  2096. ^
  2097. /usr/local/include/gtsam/base/SymmetricBlockMatrix.h:345:28: error: 'indices' was not declared in this scope
  2098. return matrix_.block(indices[0], indices[1], indices[2], indices[3]);
  2099. ^
  2100. In file included from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28:0,
  2101. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24,
  2102. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
  2103. from /usr/local/include/gtsam/nonlinear/GaussNewtonOptimizer.h:21,
  2104. from /root/ws/admm-slam/cpp/src/ADMM.h:6,
  2105. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2106. /usr/local/include/gtsam/linear/HessianFactor.h: At global scope:
  2107. /usr/local/include/gtsam/linear/HessianFactor.h:123:23: error: expected ')' before 'j'
  2108. HessianFactor(Key j, const Matrix& G, const Vector& g, double f);
  2109. ^
  2110. /usr/local/include/gtsam/linear/HessianFactor.h:128:23: error: expected ')' before 'j'
  2111. HessianFactor(Key j, const Vector& mu, const Matrix& Sigma);
  2112. ^
  2113. /usr/local/include/gtsam/linear/HessianFactor.h:145:23: error: expected ')' before 'j1'
  2114. HessianFactor(Key j1, Key j2,
  2115. ^
  2116. /usr/local/include/gtsam/linear/HessianFactor.h:153:23: error: expected ')' before 'j1'
  2117. HessianFactor(Key j1, Key j2, Key j3,
  2118. ^
  2119. /usr/local/include/gtsam/linear/HessianFactor.h:162:37: error: 'Key' was not declared in this scope
  2120. HessianFactor(const std::vector<Key>& js, const std::vector<Matrix>& Gs,
  2121. ^
  2122. /usr/local/include/gtsam/linear/HessianFactor.h:162:40: error: template argument 1 is invalid
  2123. HessianFactor(const std::vector<Key>& js, const std::vector<Matrix>& Gs,
  2124. ^
  2125. /usr/local/include/gtsam/linear/HessianFactor.h:162:40: error: template argument 2 is invalid
  2126. /usr/local/include/gtsam/linear/HessianFactor.h:296:22: error: 'Key' was not declared in this scope
  2127. virtual std::map<Key,Matrix> hessianBlockDiagonal() const;
  2128. ^
  2129. /usr/local/include/gtsam/linear/HessianFactor.h:296:32: error: template argument 1 is invalid
  2130. virtual std::map<Key,Matrix> hessianBlockDiagonal() const;
  2131. ^
  2132. /usr/local/include/gtsam/linear/HessianFactor.h:296:32: error: template argument 3 is invalid
  2133. /usr/local/include/gtsam/linear/HessianFactor.h:296:32: error: template argument 4 is invalid
  2134. /usr/local/include/gtsam/linear/HessianFactor.h:313:41: error: 'Key' was not declared in this scope
  2135. void updateHessian(const FastVector<Key>& keys, SymmetricBlockMatrix* info) const;
  2136. ^
  2137. /usr/local/include/gtsam/linear/HessianFactor.h:313:44: error: template argument 1 is invalid
  2138. void updateHessian(const FastVector<Key>& keys, SymmetricBlockMatrix* info) const;
  2139. ^
  2140. /usr/local/include/gtsam/linear/HessianFactor.h:336:21: error: 'Key' has not been declared
  2141. Vector gradient(Key key, const VectorValues& x) const;
  2142. ^
  2143. /usr/local/include/gtsam/linear/HessianFactor.h: In member function 'virtual gtsam::DenseIndex gtsam::HessianFactor::getDim(gtsam::Factor::const_iterator) const':
  2144. /usr/local/include/gtsam/linear/HessianFactor.h:204:58: error: no matching function for call to 'distance(gtsam::Factor::const_iterator, gtsam::Factor::const_iterator&)'
  2145. return info_.getDim(std::distance(begin(), variable));
  2146. ^
  2147. /usr/local/include/gtsam/linear/HessianFactor.h:204:58: note: candidate is:
  2148. In file included from /usr/include/c++/4.8/bits/stl_algobase.h:66:0,
  2149. from /usr/include/c++/4.8/bits/char_traits.h:39,
  2150. from /usr/include/c++/4.8/ios:40,
  2151. from /usr/include/c++/4.8/istream:38,
  2152. from /usr/include/c++/4.8/sstream:38,
  2153. from /usr/include/c++/4.8/complex:45,
  2154. from /usr/local/include/gtsam/3rdparty/Eigen/Eigen/Core:28,
  2155. from /usr/local/include/gtsam/3rdparty/Eigen/Eigen/Dense:1,
  2156. from /usr/local/include/gtsam/base/OptionalJacobian.h:22,
  2157. from /usr/local/include/gtsam/base/Matrix.h:25,
  2158. from /usr/local/include/gtsam/base/Manifold.h:22,
  2159. from /usr/local/include/gtsam/base/Lie.h:25,
  2160. from /usr/local/include/gtsam/base/VectorSpace.h:11,
  2161. from /usr/local/include/gtsam/geometry/Point2.h:20,
  2162. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:24,
  2163. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  2164. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2165. /usr/include/c++/4.8/bits/stl_iterator_base_funcs.h:114:5: note: template<class _InputIterator> typename std::iterator_traits<_Iterator>::difference_type std::distance(_InputIterator, _InputIterator)
  2166. distance(_InputIterator __first, _InputIterator __last)
  2167. ^
  2168. /usr/include/c++/4.8/bits/stl_iterator_base_funcs.h:114:5: note: template argument deduction/substitution failed:
  2169. In file included from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28:0,
  2170. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24,
  2171. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
  2172. from /usr/local/include/gtsam/nonlinear/GaussNewtonOptimizer.h:21,
  2173. from /root/ws/admm-slam/cpp/src/ADMM.h:6,
  2174. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2175. /usr/local/include/gtsam/linear/HessianFactor.h: In member function 'double gtsam::HessianFactor::constantTerm() const':
  2176. /usr/local/include/gtsam/linear/HessianFactor.h:224:18: error: 'view' does not name a type
  2177. const auto view = info_.diagonalBlock(size());
  2178. ^
  2179. /usr/local/include/gtsam/linear/HessianFactor.h:225:23: error: 'view' was not declared in this scope
  2180. return view(0, 0);
  2181. ^
  2182. In file included from /usr/local/include/gtsam/linear/HessianFactor.h:419:0,
  2183. from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:28,
  2184. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24,
  2185. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
  2186. from /usr/local/include/gtsam/nonlinear/GaussNewtonOptimizer.h:21,
  2187. from /root/ws/admm-slam/cpp/src/ADMM.h:6,
  2188. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2189. /usr/local/include/gtsam/linear/HessianFactor-inl.h: In constructor 'gtsam::HessianFactor::HessianFactor(const KEYS&, const gtsam::SymmetricBlockMatrix&)':
  2190. /usr/local/include/gtsam/linear/HessianFactor-inl.h:29:32: error: request for member 'size' in 'gtsam::HessianFactor::Base:: keys_', which is of non-class type 'int'
  2191. if((DenseIndex)Base::keys_.size() != augmentedInformation.nBlocks() - 1)
  2192. ^
  2193. In file included from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24:0,
  2194. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
  2195. from /usr/local/include/gtsam/nonlinear/GaussNewtonOptimizer.h:21,
  2196. from /root/ws/admm-slam/cpp/src/ADMM.h:6,
  2197. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2198. /usr/local/include/gtsam/linear/GaussianFactorGraph.h: At global scope:
  2199. /usr/local/include/gtsam/linear/GaussianFactorGraph.h:112:14: error: 'Key' has not been declared
  2200. void add(Key key1, const Matrix& A1,
  2201. ^
  2202. /usr/local/include/gtsam/linear/GaussianFactorGraph.h:117:14: error: 'Key' has not been declared
  2203. void add(Key key1, const Matrix& A1,
  2204. ^
  2205. /usr/local/include/gtsam/linear/GaussianFactorGraph.h:118:9: error: 'Key' has not been declared
  2206. Key key2, const Matrix& A2,
  2207. ^
  2208. /usr/local/include/gtsam/linear/GaussianFactorGraph.h:123:14: error: 'Key' has not been declared
  2209. void add(Key key1, const Matrix& A1,
  2210. ^
  2211. /usr/local/include/gtsam/linear/GaussianFactorGraph.h:124:9: error: 'Key' has not been declared
  2212. Key key2, const Matrix& A2,
  2213. ^
  2214. /usr/local/include/gtsam/linear/GaussianFactorGraph.h:125:9: error: 'Key' has not been declared
  2215. Key key3, const Matrix& A3,
  2216. ^
  2217. /usr/local/include/gtsam/linear/GaussianFactorGraph.h:142:14: error: 'Key' was not declared in this scope
  2218. std::map<Key, size_t> getKeyDimMap() const;
  2219. ^
  2220. /usr/local/include/gtsam/linear/GaussianFactorGraph.h:142:25: error: template argument 1 is invalid
  2221. std::map<Key, size_t> getKeyDimMap() const;
  2222. ^
  2223. /usr/local/include/gtsam/linear/GaussianFactorGraph.h:142:25: error: template argument 3 is invalid
  2224. /usr/local/include/gtsam/linear/GaussianFactorGraph.h:142:25: error: template argument 4 is invalid
  2225. /usr/local/include/gtsam/linear/GaussianFactorGraph.h:240:22: error: 'Key' was not declared in this scope
  2226. virtual std::map<Key,Matrix> hessianBlockDiagonal() const;
  2227. ^
  2228. /usr/local/include/gtsam/linear/GaussianFactorGraph.h:240:32: error: template argument 1 is invalid
  2229. virtual std::map<Key,Matrix> hessianBlockDiagonal() const;
  2230. ^
  2231. /usr/local/include/gtsam/linear/GaussianFactorGraph.h:240:32: error: template argument 3 is invalid
  2232. /usr/local/include/gtsam/linear/GaussianFactorGraph.h:240:32: error: template argument 4 is invalid
  2233. /usr/local/include/gtsam/linear/GaussianFactorGraph.h: In member function 'void gtsam::GaussianFactorGraph::add(int, const Matrix&, const Vector&, const SharedDiagonal&)':
  2234. /usr/local/include/gtsam/linear/GaussianFactorGraph.h:114:41: error: no matching function for call to 'gtsam::JacobianFactor::JacobianFactor(int&, const Matrix&, const Vector&, const SharedDiagonal&)'
  2235. add(JacobianFactor(key1,A1,b,model)); }
  2236. ^
  2237. /usr/local/include/gtsam/linear/GaussianFactorGraph.h:114:41: note: candidates are:
  2238. In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:25:0,
  2239. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:25,
  2240. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  2241. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2242. /usr/local/include/gtsam/linear/JacobianFactor.h:366:5: note: template<class KEYS, class DIMENSIONS> gtsam::JacobianFactor::JacobianFactor(const KEYS&, const DIMENSIONS&, gtsam::DenseIndex, const SharedDiagonal&)
  2243. JacobianFactor(const KEYS& keys, const DIMENSIONS& dims, DenseIndex m,
  2244. ^
  2245. /usr/local/include/gtsam/linear/JacobianFactor.h:366:5: note: template argument deduction/substitution failed:
  2246. In file included from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24:0,
  2247. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
  2248. from /usr/local/include/gtsam/nonlinear/GaussNewtonOptimizer.h:21,
  2249. from /root/ws/admm-slam/cpp/src/ADMM.h:6,
  2250. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2251. /usr/local/include/gtsam/linear/GaussianFactorGraph.h:114:41: note: cannot convert 'b' (type 'const Vector {aka const Eigen::Matrix<double, -1, 1>}') to type 'gtsam::DenseIndex {aka long int}'
  2252. add(JacobianFactor(key1,A1,b,model)); }
  2253. ^
  2254. In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:25:0,
  2255. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:25,
  2256. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  2257. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2258. /usr/local/include/gtsam/linear/JacobianFactor.h:154:14: note: gtsam::JacobianFactor::JacobianFactor(const gtsam::GaussianFactorGraph&, boost::optional<const gtsam::Ordering&>, boost::optional<const gtsam::VariableSlots&>)
  2259. explicit JacobianFactor(
  2260. ^
  2261. /usr/local/include/gtsam/linear/JacobianFactor.h:154:14: note: candidate expects 3 arguments, 4 provided
  2262. /usr/local/include/gtsam/linear/JacobianFactor.h:147:5: note: template<class KEYS> gtsam::JacobianFactor::JacobianFactor(const KEYS&, const gtsam::VerticalBlockMatrix&, const SharedDiagonal&)
  2263. JacobianFactor(
  2264. ^
  2265. /usr/local/include/gtsam/linear/JacobianFactor.h:147:5: note: template argument deduction/substitution failed:
  2266. In file included from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24:0,
  2267. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
  2268. from /usr/local/include/gtsam/nonlinear/GaussNewtonOptimizer.h:21,
  2269. from /root/ws/admm-slam/cpp/src/ADMM.h:6,
  2270. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2271. /usr/local/include/gtsam/linear/GaussianFactorGraph.h:114:41: note: cannot convert 'A1' (type 'const Matrix {aka const Eigen::Matrix<double, -1, -1>}') to type 'const gtsam::VerticalBlockMatrix&'
  2272. add(JacobianFactor(key1,A1,b,model)); }
  2273. ^
  2274. In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:25:0,
  2275. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:25,
  2276. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  2277. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2278. /usr/local/include/gtsam/linear/JacobianFactor.h:140:5: note: template<class TERMS> gtsam::JacobianFactor::JacobianFactor(const TERMS&, const Vector&, const SharedDiagonal&)
  2279. JacobianFactor(const TERMS& terms, const Vector& b, const SharedDiagonal& model = SharedDiagonal());
  2280. ^
  2281. /usr/local/include/gtsam/linear/JacobianFactor.h:140:5: note: template argument deduction/substitution failed:
  2282. In file included from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24:0,
  2283. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
  2284. from /usr/local/include/gtsam/nonlinear/GaussNewtonOptimizer.h:21,
  2285. from /root/ws/admm-slam/cpp/src/ADMM.h:6,
  2286. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2287. /usr/local/include/gtsam/linear/GaussianFactorGraph.h:114:41: note: cannot convert 'b' (type 'const Vector {aka const Eigen::Matrix<double, -1, 1>}') to type 'const SharedDiagonal& {aka const boost::shared_ptr<gtsam::noiseModel::Diagonal>&}'
  2288. add(JacobianFactor(key1,A1,b,model)); }
  2289. ^
  2290. In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:25:0,
  2291. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:25,
  2292. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  2293. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2294. /usr/local/include/gtsam/linear/JacobianFactor.h:120:14: note: gtsam::JacobianFactor::JacobianFactor(const Vector&)
  2295. explicit JacobianFactor(const Vector& b_in);
  2296. ^
  2297. /usr/local/include/gtsam/linear/JacobianFactor.h:120:14: note: candidate expects 1 argument, 4 provided
  2298. /usr/local/include/gtsam/linear/JacobianFactor.h:117:5: note: gtsam::JacobianFactor::JacobianFactor()
  2299. JacobianFactor();
  2300. ^
  2301. /usr/local/include/gtsam/linear/JacobianFactor.h:117:5: note: candidate expects 0 arguments, 4 provided
  2302. /usr/local/include/gtsam/linear/JacobianFactor.h:114:14: note: gtsam::JacobianFactor::JacobianFactor(const gtsam::HessianFactor&)
  2303. explicit JacobianFactor(const HessianFactor& hf);
  2304. ^
  2305. /usr/local/include/gtsam/linear/JacobianFactor.h:114:14: note: candidate expects 1 argument, 4 provided
  2306. /usr/local/include/gtsam/linear/JacobianFactor.h:111:5: note: gtsam::JacobianFactor::JacobianFactor(const gtsam::JacobianFactor&)
  2307. JacobianFactor(const JacobianFactor& jf) : Base(jf), Ab_(jf.Ab_), model_(jf.model_) {}
  2308. ^
  2309. /usr/local/include/gtsam/linear/JacobianFactor.h:111:5: note: candidate expects 1 argument, 4 provided
  2310. /usr/local/include/gtsam/linear/JacobianFactor.h:108:14: note: gtsam::JacobianFactor::JacobianFactor(const gtsam::GaussianFactor&)
  2311. explicit JacobianFactor(const GaussianFactor& gf);
  2312. ^
  2313. /usr/local/include/gtsam/linear/JacobianFactor.h:108:14: note: candidate expects 1 argument, 4 provided
  2314. In file included from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24:0,
  2315. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
  2316. from /usr/local/include/gtsam/nonlinear/GaussNewtonOptimizer.h:21,
  2317. from /root/ws/admm-slam/cpp/src/ADMM.h:6,
  2318. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2319. /usr/local/include/gtsam/linear/GaussianFactorGraph.h: In member function 'void gtsam::GaussianFactorGraph::add(int, const Matrix&, int, const Matrix&, const Vector&, const SharedDiagonal&)':
  2320. /usr/local/include/gtsam/linear/GaussianFactorGraph.h:120:49: error: no matching function for call to 'gtsam::JacobianFactor::JacobianFactor(int&, const Matrix&, int&, const Matrix&, const Vector&, const SharedDiagonal&)'
  2321. add(JacobianFactor(key1,A1,key2,A2,b,model)); }
  2322. ^
  2323. /usr/local/include/gtsam/linear/GaussianFactorGraph.h:120:49: note: candidates are:
  2324. In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:25:0,
  2325. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:25,
  2326. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  2327. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2328. /usr/local/include/gtsam/linear/JacobianFactor.h:366:5: note: template<class KEYS, class DIMENSIONS> gtsam::JacobianFactor::JacobianFactor(const KEYS&, const DIMENSIONS&, gtsam::DenseIndex, const SharedDiagonal&)
  2329. JacobianFactor(const KEYS& keys, const DIMENSIONS& dims, DenseIndex m,
  2330. ^
  2331. /usr/local/include/gtsam/linear/JacobianFactor.h:366:5: note: template argument deduction/substitution failed:
  2332. In file included from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24:0,
  2333. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
  2334. from /usr/local/include/gtsam/nonlinear/GaussNewtonOptimizer.h:21,
  2335. from /root/ws/admm-slam/cpp/src/ADMM.h:6,
  2336. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2337. /usr/local/include/gtsam/linear/GaussianFactorGraph.h:120:49: note: cannot convert 'A2' (type 'const Matrix {aka const Eigen::Matrix<double, -1, -1>}') to type 'const SharedDiagonal& {aka const boost::shared_ptr<gtsam::noiseModel::Diagonal>&}'
  2338. add(JacobianFactor(key1,A1,key2,A2,b,model)); }
  2339. ^
  2340. In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:25:0,
  2341. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:25,
  2342. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  2343. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2344. /usr/local/include/gtsam/linear/JacobianFactor.h:154:14: note: gtsam::JacobianFactor::JacobianFactor(const gtsam::GaussianFactorGraph&, boost::optional<const gtsam::Ordering&>, boost::optional<const gtsam::VariableSlots&>)
  2345. explicit JacobianFactor(
  2346. ^
  2347. /usr/local/include/gtsam/linear/JacobianFactor.h:154:14: note: candidate expects 3 arguments, 6 provided
  2348. /usr/local/include/gtsam/linear/JacobianFactor.h:147:5: note: template<class KEYS> gtsam::JacobianFactor::JacobianFactor(const KEYS&, const gtsam::VerticalBlockMatrix&, const SharedDiagonal&)
  2349. JacobianFactor(
  2350. ^
  2351. /usr/local/include/gtsam/linear/JacobianFactor.h:147:5: note: template argument deduction/substitution failed:
  2352. In file included from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24:0,
  2353. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
  2354. from /usr/local/include/gtsam/nonlinear/GaussNewtonOptimizer.h:21,
  2355. from /root/ws/admm-slam/cpp/src/ADMM.h:6,
  2356. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2357. /usr/local/include/gtsam/linear/GaussianFactorGraph.h:120:49: note: cannot convert 'A1' (type 'const Matrix {aka const Eigen::Matrix<double, -1, -1>}') to type 'const gtsam::VerticalBlockMatrix&'
  2358. add(JacobianFactor(key1,A1,key2,A2,b,model)); }
  2359. ^
  2360. In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:25:0,
  2361. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:25,
  2362. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  2363. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2364. /usr/local/include/gtsam/linear/JacobianFactor.h:140:5: note: template<class TERMS> gtsam::JacobianFactor::JacobianFactor(const TERMS&, const Vector&, const SharedDiagonal&)
  2365. JacobianFactor(const TERMS& terms, const Vector& b, const SharedDiagonal& model = SharedDiagonal());
  2366. ^
  2367. /usr/local/include/gtsam/linear/JacobianFactor.h:140:5: note: template argument deduction/substitution failed:
  2368. In file included from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24:0,
  2369. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
  2370. from /usr/local/include/gtsam/nonlinear/GaussNewtonOptimizer.h:21,
  2371. from /root/ws/admm-slam/cpp/src/ADMM.h:6,
  2372. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2373. /usr/local/include/gtsam/linear/GaussianFactorGraph.h:120:49: note: cannot convert 'key2' (type 'int') to type 'const SharedDiagonal& {aka const boost::shared_ptr<gtsam::noiseModel::Diagonal>&}'
  2374. add(JacobianFactor(key1,A1,key2,A2,b,model)); }
  2375. ^
  2376. In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:25:0,
  2377. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:25,
  2378. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  2379. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2380. /usr/local/include/gtsam/linear/JacobianFactor.h:120:14: note: gtsam::JacobianFactor::JacobianFactor(const Vector&)
  2381. explicit JacobianFactor(const Vector& b_in);
  2382. ^
  2383. /usr/local/include/gtsam/linear/JacobianFactor.h:120:14: note: candidate expects 1 argument, 6 provided
  2384. /usr/local/include/gtsam/linear/JacobianFactor.h:117:5: note: gtsam::JacobianFactor::JacobianFactor()
  2385. JacobianFactor();
  2386. ^
  2387. /usr/local/include/gtsam/linear/JacobianFactor.h:117:5: note: candidate expects 0 arguments, 6 provided
  2388. /usr/local/include/gtsam/linear/JacobianFactor.h:114:14: note: gtsam::JacobianFactor::JacobianFactor(const gtsam::HessianFactor&)
  2389. explicit JacobianFactor(const HessianFactor& hf);
  2390. ^
  2391. /usr/local/include/gtsam/linear/JacobianFactor.h:114:14: note: candidate expects 1 argument, 6 provided
  2392. /usr/local/include/gtsam/linear/JacobianFactor.h:111:5: note: gtsam::JacobianFactor::JacobianFactor(const gtsam::JacobianFactor&)
  2393. JacobianFactor(const JacobianFactor& jf) : Base(jf), Ab_(jf.Ab_), model_(jf.model_) {}
  2394. ^
  2395. /usr/local/include/gtsam/linear/JacobianFactor.h:111:5: note: candidate expects 1 argument, 6 provided
  2396. /usr/local/include/gtsam/linear/JacobianFactor.h:108:14: note: gtsam::JacobianFactor::JacobianFactor(const gtsam::GaussianFactor&)
  2397. explicit JacobianFactor(const GaussianFactor& gf);
  2398. ^
  2399. /usr/local/include/gtsam/linear/JacobianFactor.h:108:14: note: candidate expects 1 argument, 6 provided
  2400. In file included from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24:0,
  2401. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
  2402. from /usr/local/include/gtsam/nonlinear/GaussNewtonOptimizer.h:21,
  2403. from /root/ws/admm-slam/cpp/src/ADMM.h:6,
  2404. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2405. /usr/local/include/gtsam/linear/GaussianFactorGraph.h: In member function 'void gtsam::GaussianFactorGraph::add(int, const Matrix&, int, const Matrix&, int, const Matrix&, const Vector&, const SharedDiagonal&)':
  2406. /usr/local/include/gtsam/linear/GaussianFactorGraph.h:127:57: error: no matching function for call to 'gtsam::JacobianFactor::JacobianFactor(int&, const Matrix&, int&, const Matrix&, int&, const Matrix&, const Vector&, const SharedDiagonal&)'
  2407. add(JacobianFactor(key1,A1,key2,A2,key3,A3,b,model)); }
  2408. ^
  2409. /usr/local/include/gtsam/linear/GaussianFactorGraph.h:127:57: note: candidates are:
  2410. In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:25:0,
  2411. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:25,
  2412. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  2413. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2414. /usr/local/include/gtsam/linear/JacobianFactor.h:366:5: note: template<class KEYS, class DIMENSIONS> gtsam::JacobianFactor::JacobianFactor(const KEYS&, const DIMENSIONS&, gtsam::DenseIndex, const SharedDiagonal&)
  2415. JacobianFactor(const KEYS& keys, const DIMENSIONS& dims, DenseIndex m,
  2416. ^
  2417. /usr/local/include/gtsam/linear/JacobianFactor.h:366:5: note: template argument deduction/substitution failed:
  2418. In file included from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24:0,
  2419. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
  2420. from /usr/local/include/gtsam/nonlinear/GaussNewtonOptimizer.h:21,
  2421. from /root/ws/admm-slam/cpp/src/ADMM.h:6,
  2422. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2423. /usr/local/include/gtsam/linear/GaussianFactorGraph.h:127:57: note: cannot convert 'A2' (type 'const Matrix {aka const Eigen::Matrix<double, -1, -1>}') to type 'const SharedDiagonal& {aka const boost::shared_ptr<gtsam::noiseModel::Diagonal>&}'
  2424. add(JacobianFactor(key1,A1,key2,A2,key3,A3,b,model)); }
  2425. ^
  2426. In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:25:0,
  2427. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:25,
  2428. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  2429. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2430. /usr/local/include/gtsam/linear/JacobianFactor.h:154:14: note: gtsam::JacobianFactor::JacobianFactor(const gtsam::GaussianFactorGraph&, boost::optional<const gtsam::Ordering&>, boost::optional<const gtsam::VariableSlots&>)
  2431. explicit JacobianFactor(
  2432. ^
  2433. /usr/local/include/gtsam/linear/JacobianFactor.h:154:14: note: candidate expects 3 arguments, 8 provided
  2434. /usr/local/include/gtsam/linear/JacobianFactor.h:147:5: note: template<class KEYS> gtsam::JacobianFactor::JacobianFactor(const KEYS&, const gtsam::VerticalBlockMatrix&, const SharedDiagonal&)
  2435. JacobianFactor(
  2436. ^
  2437. /usr/local/include/gtsam/linear/JacobianFactor.h:147:5: note: template argument deduction/substitution failed:
  2438. In file included from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24:0,
  2439. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
  2440. from /usr/local/include/gtsam/nonlinear/GaussNewtonOptimizer.h:21,
  2441. from /root/ws/admm-slam/cpp/src/ADMM.h:6,
  2442. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2443. /usr/local/include/gtsam/linear/GaussianFactorGraph.h:127:57: note: cannot convert 'A1' (type 'const Matrix {aka const Eigen::Matrix<double, -1, -1>}') to type 'const gtsam::VerticalBlockMatrix&'
  2444. add(JacobianFactor(key1,A1,key2,A2,key3,A3,b,model)); }
  2445. ^
  2446. In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:25:0,
  2447. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:25,
  2448. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  2449. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2450. /usr/local/include/gtsam/linear/JacobianFactor.h:140:5: note: template<class TERMS> gtsam::JacobianFactor::JacobianFactor(const TERMS&, const Vector&, const SharedDiagonal&)
  2451. JacobianFactor(const TERMS& terms, const Vector& b, const SharedDiagonal& model = SharedDiagonal());
  2452. ^
  2453. /usr/local/include/gtsam/linear/JacobianFactor.h:140:5: note: template argument deduction/substitution failed:
  2454. In file included from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24:0,
  2455. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
  2456. from /usr/local/include/gtsam/nonlinear/GaussNewtonOptimizer.h:21,
  2457. from /root/ws/admm-slam/cpp/src/ADMM.h:6,
  2458. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2459. /usr/local/include/gtsam/linear/GaussianFactorGraph.h:127:57: note: cannot convert 'key2' (type 'int') to type 'const SharedDiagonal& {aka const boost::shared_ptr<gtsam::noiseModel::Diagonal>&}'
  2460. add(JacobianFactor(key1,A1,key2,A2,key3,A3,b,model)); }
  2461. ^
  2462. In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:25:0,
  2463. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:25,
  2464. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  2465. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2466. /usr/local/include/gtsam/linear/JacobianFactor.h:120:14: note: gtsam::JacobianFactor::JacobianFactor(const Vector&)
  2467. explicit JacobianFactor(const Vector& b_in);
  2468. ^
  2469. /usr/local/include/gtsam/linear/JacobianFactor.h:120:14: note: candidate expects 1 argument, 8 provided
  2470. /usr/local/include/gtsam/linear/JacobianFactor.h:117:5: note: gtsam::JacobianFactor::JacobianFactor()
  2471. JacobianFactor();
  2472. ^
  2473. /usr/local/include/gtsam/linear/JacobianFactor.h:117:5: note: candidate expects 0 arguments, 8 provided
  2474. /usr/local/include/gtsam/linear/JacobianFactor.h:114:14: note: gtsam::JacobianFactor::JacobianFactor(const gtsam::HessianFactor&)
  2475. explicit JacobianFactor(const HessianFactor& hf);
  2476. ^
  2477. /usr/local/include/gtsam/linear/JacobianFactor.h:114:14: note: candidate expects 1 argument, 8 provided
  2478. /usr/local/include/gtsam/linear/JacobianFactor.h:111:5: note: gtsam::JacobianFactor::JacobianFactor(const gtsam::JacobianFactor&)
  2479. JacobianFactor(const JacobianFactor& jf) : Base(jf), Ab_(jf.Ab_), model_(jf.model_) {}
  2480. ^
  2481. /usr/local/include/gtsam/linear/JacobianFactor.h:111:5: note: candidate expects 1 argument, 8 provided
  2482. /usr/local/include/gtsam/linear/JacobianFactor.h:108:14: note: gtsam::JacobianFactor::JacobianFactor(const gtsam::GaussianFactor&)
  2483. explicit JacobianFactor(const GaussianFactor& gf);
  2484. ^
  2485. /usr/local/include/gtsam/linear/JacobianFactor.h:108:14: note: candidate expects 1 argument, 8 provided
  2486. In file included from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24:0,
  2487. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
  2488. from /usr/local/include/gtsam/nonlinear/GaussNewtonOptimizer.h:21,
  2489. from /root/ws/admm-slam/cpp/src/ADMM.h:6,
  2490. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2491. /usr/local/include/gtsam/linear/GaussianFactorGraph.h: In member function 'double gtsam::GaussianFactorGraph::error(const gtsam::VectorValues&) const':
  2492. /usr/local/include/gtsam/linear/GaussianFactorGraph.h:147:39: error: range-based 'for' loops are not allowed in C++98 mode
  2493. for(const sharedFactor& factor: *this){
  2494. ^
  2495. In file included from /usr/local/include/gtsam/linear/ConjugateGradientSolver.h:22:0,
  2496. from /usr/local/include/gtsam/linear/SubgraphSolver.h:22,
  2497. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:25,
  2498. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
  2499. from /usr/local/include/gtsam/nonlinear/GaussNewtonOptimizer.h:21,
  2500. from /root/ws/admm-slam/cpp/src/ADMM.h:6,
  2501. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2502. /usr/local/include/gtsam/linear/IterativeSolver.h: At global scope:
  2503. /usr/local/include/gtsam/linear/IterativeSolver.h:97:38: error: 'Key' was not declared in this scope
  2504. boost::optional<const std::map<Key, Vector>&> lambda = boost::none);
  2505. ^
  2506. /usr/local/include/gtsam/linear/IterativeSolver.h:97:49: error: template argument 1 is invalid
  2507. boost::optional<const std::map<Key, Vector>&> lambda = boost::none);
  2508. ^
  2509. /usr/local/include/gtsam/linear/IterativeSolver.h:97:49: error: template argument 3 is invalid
  2510. /usr/local/include/gtsam/linear/IterativeSolver.h:97:49: error: template argument 4 is invalid
  2511. /usr/local/include/gtsam/linear/IterativeSolver.h:97:51: error: template argument 1 is invalid
  2512. boost::optional<const std::map<Key, Vector>&> lambda = boost::none);
  2513. ^
  2514. /usr/local/include/gtsam/linear/IterativeSolver.h:97:51: error: template argument 1 is invalid
  2515. /usr/local/include/gtsam/linear/IterativeSolver.h:97:14: error: 'boost::optional' is not a type
  2516. boost::optional<const std::map<Key, Vector>&> lambda = boost::none);
  2517. ^
  2518. /usr/local/include/gtsam/linear/IterativeSolver.h:97:22: error: expected ',' or '...' before '<' token
  2519. boost::optional<const std::map<Key, Vector>&> lambda = boost::none);
  2520. ^
  2521. /usr/local/include/gtsam/linear/IterativeSolver.h:101:22: error: 'Key' was not declared in this scope
  2522. const std::map<Key, Vector> &lambda);
  2523. ^
  2524. /usr/local/include/gtsam/linear/IterativeSolver.h:101:33: error: template argument 1 is invalid
  2525. const std::map<Key, Vector> &lambda);
  2526. ^
  2527. /usr/local/include/gtsam/linear/IterativeSolver.h:101:33: error: template argument 3 is invalid
  2528. /usr/local/include/gtsam/linear/IterativeSolver.h:101:33: error: template argument 4 is invalid
  2529. /usr/local/include/gtsam/linear/IterativeSolver.h:105:46: error: 'Key' was not declared in this scope
  2530. const KeyInfo &keyInfo, const std::map<Key, Vector> &lambda,
  2531. ^
  2532. /usr/local/include/gtsam/linear/IterativeSolver.h:105:57: error: template argument 1 is invalid
  2533. const KeyInfo &keyInfo, const std::map<Key, Vector> &lambda,
  2534. ^
  2535. /usr/local/include/gtsam/linear/IterativeSolver.h:105:57: error: template argument 3 is invalid
  2536. /usr/local/include/gtsam/linear/IterativeSolver.h:105:57: error: template argument 4 is invalid
  2537. /usr/local/include/gtsam/linear/IterativeSolver.h:95:16: error: default argument missing for parameter 3 of 'gtsam::VectorValues gtsam::IterativeSolver::optimize(const gtsam::GaussianFactorGraph&, boost::optional<const gtsam::KeyInfo&>, int)'
  2538. VectorValues optimize(const GaussianFactorGraph &gfg,
  2539. ^
  2540. /usr/local/include/gtsam/linear/IterativeSolver.h:114:54: error: 'Key' was not declared in this scope
  2541. class GTSAM_EXPORT KeyInfoEntry: public boost::tuple<Key, size_t, Key> {
  2542. ^
  2543. /usr/local/include/gtsam/linear/IterativeSolver.h:114:67: error: 'Key' was not declared in this scope
  2544. class GTSAM_EXPORT KeyInfoEntry: public boost::tuple<Key, size_t, Key> {
  2545. ^
  2546. /usr/local/include/gtsam/linear/IterativeSolver.h:114:70: error: template argument 1 is invalid
  2547. class GTSAM_EXPORT KeyInfoEntry: public boost::tuple<Key, size_t, Key> {
  2548. ^
  2549. /usr/local/include/gtsam/linear/IterativeSolver.h:114:70: error: template argument 3 is invalid
  2550. /usr/local/include/gtsam/linear/IterativeSolver.h:118:24: error: 'Key' was not declared in this scope
  2551. typedef boost::tuple<Key, size_t, Key> Base;
  2552. ^
  2553. /usr/local/include/gtsam/linear/IterativeSolver.h:118:37: error: 'Key' was not declared in this scope
  2554. typedef boost::tuple<Key, size_t, Key> Base;
  2555. ^
  2556. /usr/local/include/gtsam/linear/IterativeSolver.h:118:40: error: template argument 1 is invalid
  2557. typedef boost::tuple<Key, size_t, Key> Base;
  2558. ^
  2559. /usr/local/include/gtsam/linear/IterativeSolver.h:118:40: error: template argument 3 is invalid
  2560. /usr/local/include/gtsam/linear/IterativeSolver.h:122:38: error: 'Key' has not been declared
  2561. KeyInfoEntry(size_t idx, size_t d, Key start) :
  2562. ^
  2563. /usr/local/include/gtsam/linear/IterativeSolver.h: In constructor 'gtsam::KeyInfoEntry::KeyInfoEntry(std::size_t, std::size_t, int)':
  2564. /usr/local/include/gtsam/linear/IterativeSolver.h:123:7: error: 'typedef int gtsam::KeyInfoEntry::Base' is not a non-static data member of 'gtsam::KeyInfoEntry'
  2565. Base(idx, d, start) {
  2566. ^
  2567. /usr/local/include/gtsam/linear/IterativeSolver.h: In member function 'std::size_t gtsam::KeyInfoEntry::index() const':
  2568. /usr/local/include/gtsam/linear/IterativeSolver.h:126:18: error: 'const class gtsam::KeyInfoEntry' has no member named 'get'
  2569. return this->get<0>();
  2570. ^
  2571. /usr/local/include/gtsam/linear/IterativeSolver.h:126:25: error: expected primary-expression before ')' token
  2572. return this->get<0>();
  2573. ^
  2574. /usr/local/include/gtsam/linear/IterativeSolver.h: In member function 'std::size_t gtsam::KeyInfoEntry::dim() const':
  2575. /usr/local/include/gtsam/linear/IterativeSolver.h:129:18: error: 'const class gtsam::KeyInfoEntry' has no member named 'get'
  2576. return this->get<1>();
  2577. ^
  2578. /usr/local/include/gtsam/linear/IterativeSolver.h:129:25: error: expected primary-expression before ')' token
  2579. return this->get<1>();
  2580. ^
  2581. /usr/local/include/gtsam/linear/IterativeSolver.h: In member function 'std::size_t gtsam::KeyInfoEntry::colstart() const':
  2582. /usr/local/include/gtsam/linear/IterativeSolver.h:132:18: error: 'const class gtsam::KeyInfoEntry' has no member named 'get'
  2583. return this->get<2>();
  2584. ^
  2585. /usr/local/include/gtsam/linear/IterativeSolver.h:132:25: error: expected primary-expression before ')' token
  2586. return this->get<2>();
  2587. ^
  2588. /usr/local/include/gtsam/linear/IterativeSolver.h: At global scope:
  2589. /usr/local/include/gtsam/linear/IterativeSolver.h:139:45: error: 'Key' was not declared in this scope
  2590. class GTSAM_EXPORT KeyInfo: public std::map<Key, KeyInfoEntry> {
  2591. ^
  2592. /usr/local/include/gtsam/linear/IterativeSolver.h:139:62: error: template argument 1 is invalid
  2593. class GTSAM_EXPORT KeyInfo: public std::map<Key, KeyInfoEntry> {
  2594. ^
  2595. /usr/local/include/gtsam/linear/IterativeSolver.h:139:62: error: template argument 3 is invalid
  2596. /usr/local/include/gtsam/linear/IterativeSolver.h:139:62: error: template argument 4 is invalid
  2597. /usr/local/include/gtsam/linear/IterativeSolver.h:143:20: error: 'Key' was not declared in this scope
  2598. typedef std::map<Key, KeyInfoEntry> Base;
  2599. ^
  2600. /usr/local/include/gtsam/linear/IterativeSolver.h:143:37: error: template argument 1 is invalid
  2601. typedef std::map<Key, KeyInfoEntry> Base;
  2602. ^
  2603. /usr/local/include/gtsam/linear/IterativeSolver.h:143:37: error: template argument 3 is invalid
  2604. /usr/local/include/gtsam/linear/IterativeSolver.h:143:37: error: template argument 4 is invalid
  2605. In file included from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:25:0,
  2606. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
  2607. from /usr/local/include/gtsam/nonlinear/GaussNewtonOptimizer.h:21,
  2608. from /root/ws/admm-slam/cpp/src/ADMM.h:6,
  2609. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2610. /usr/local/include/gtsam/linear/SubgraphSolver.h:120:46: error: 'Key' was not declared in this scope
  2611. const KeyInfo &keyInfo, const std::map<Key, Vector> &lambda,
  2612. ^
  2613. /usr/local/include/gtsam/linear/SubgraphSolver.h:120:57: error: template argument 1 is invalid
  2614. const KeyInfo &keyInfo, const std::map<Key, Vector> &lambda,
  2615. ^
  2616. /usr/local/include/gtsam/linear/SubgraphSolver.h:120:57: error: template argument 3 is invalid
  2617. /usr/local/include/gtsam/linear/SubgraphSolver.h:120:57: error: template argument 4 is invalid
  2618. In file included from /usr/local/include/gtsam/nonlinear/GaussNewtonOptimizer.h:21:0,
  2619. from /root/ws/admm-slam/cpp/src/ADMM.h:6,
  2620. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2621. /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:80:3: error: 'unique_ptr' in namespace 'std' does not name a type
  2622. std::unique_ptr<internal::NonlinearOptimizerState> state_; ///< PIMPL'd state
  2623. ^
  2624. /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:147:27: error: 'std::unique_ptr' has not been declared
  2625. std::unique_ptr<internal::NonlinearOptimizerState> state);
  2626. ^
  2627. /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:147:37: error: expected ',' or '...' before '<' token
  2628. std::unique_ptr<internal::NonlinearOptimizerState> state);
  2629. ^
  2630. In file included from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:25:0,
  2631. from /root/ws/admm-slam/cpp/src/ADMM.h:7,
  2632. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2633. /usr/local/include/gtsam/linear/VectorValues.h:93:27: error: 'Key' was not declared in this scope
  2634. typedef ConcurrentMap<Key, Vector> Values; ///< Typedef for the collection of Vectors making up a VectorValues
  2635. ^
  2636. /usr/local/include/gtsam/linear/VectorValues.h:93:38: error: template argument 1 is invalid
  2637. typedef ConcurrentMap<Key, Vector> Values; ///< Typedef for the collection of Vectors making up a VectorValues
  2638. ^
  2639. /usr/local/include/gtsam/linear/VectorValues.h:97:21: error: typedef name may not be a nested-name-specifier
  2640. typedef Values::iterator iterator; ///< Iterator over vector values
  2641. ^
  2642. /usr/local/include/gtsam/linear/VectorValues.h:97:21: error: expected ';' at end of member declaration
  2643. /usr/local/include/gtsam/linear/VectorValues.h:97:30: error: 'iterator' does not name a type
  2644. typedef Values::iterator iterator; ///< Iterator over vector values
  2645. ^
  2646. /usr/local/include/gtsam/linear/VectorValues.h:98:21: error: typedef name may not be a nested-name-specifier
  2647. typedef Values::const_iterator const_iterator; ///< Const iterator over vector values
  2648. ^
  2649. /usr/local/include/gtsam/linear/VectorValues.h:98:21: error: expected ';' at end of member declaration
  2650. /usr/local/include/gtsam/linear/VectorValues.h:98:36: error: 'const_iterator' does not name a type
  2651. typedef Values::const_iterator const_iterator; ///< Const iterator over vector values
  2652. ^
  2653. /usr/local/include/gtsam/linear/VectorValues.h:102:21: error: typedef name may not be a nested-name-specifier
  2654. typedef Values::value_type value_type; ///< Typedef to pair<Key, Vector>, a key-value pair
  2655. ^
  2656. /usr/local/include/gtsam/linear/VectorValues.h:102:21: error: expected ';' at end of member declaration
  2657. /usr/local/include/gtsam/linear/VectorValues.h:102:32: error: 'value_type' does not name a type
  2658. typedef Values::value_type value_type; ///< Typedef to pair<Key, Vector>, a key-value pair
  2659. ^
  2660. /usr/local/include/gtsam/linear/VectorValues.h:103:13: error: 'value_type' does not name a type
  2661. typedef value_type KeyValuePair; ///< Typedef to pair<Key, Vector>, a key-value pair
  2662. ^
  2663. /usr/local/include/gtsam/linear/VectorValues.h:104:22: error: 'Key' was not declared in this scope
  2664. typedef std::map<Key,size_t> Dims;
  2665. ^
  2666. /usr/local/include/gtsam/linear/VectorValues.h:104:32: error: template argument 1 is invalid
  2667. typedef std::map<Key,size_t> Dims;
  2668. ^
  2669. /usr/local/include/gtsam/linear/VectorValues.h:104:32: error: template argument 3 is invalid
  2670. /usr/local/include/gtsam/linear/VectorValues.h:104:32: error: template argument 4 is invalid
  2671. /usr/local/include/gtsam/linear/VectorValues.h:145:16: error: 'Key' has not been declared
  2672. size_t dim(Key j) const { return at(j).rows(); }
  2673. ^
  2674. /usr/local/include/gtsam/linear/VectorValues.h:148:17: error: 'Key' has not been declared
  2675. bool exists(Key j) const { return find(j) != end(); }
  2676. ^
  2677. In file included from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:25:0,
  2678. from /root/ws/admm-slam/cpp/src/ADMM.h:7,
  2679. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2680. /usr/local/include/gtsam/linear/VectorValues.h:151:13: error: expected ';' at end of member declaration
  2681. Vector& at(Key j) {
  2682. ^
  2683. /usr/local/include/gtsam/linear/VectorValues.h:151:20: error: expected ')' before 'j'
  2684. Vector& at(Key j) {
  2685. ^
  2686. /usr/local/include/gtsam/linear/VectorValues.h:161:19: error: expected ';' at end of member declaration
  2687. const Vector& at(Key j) const {
  2688. ^
  2689. /usr/local/include/gtsam/linear/VectorValues.h:161:22: error: redeclaration of 'const Vector& gtsam::VectorValues::at'
  2690. const Vector& at(Key j) const {
  2691. ^
  2692. /usr/local/include/gtsam/linear/VectorValues.h:151:16: note: previous declaration 'gtsam::Vector& gtsam::VectorValues::at'
  2693. Vector& at(Key j) {
  2694. ^
  2695. /usr/local/include/gtsam/linear/VectorValues.h:161:26: error: expected ')' before 'j'
  2696. const Vector& at(Key j) const {
  2697. ^
  2698. /usr/local/include/gtsam/linear/VectorValues.h:172:24: error: declaration of 'operator[]' as non-function
  2699. Vector& operator[](Key j) { return at(j); }
  2700. ^
  2701. /usr/local/include/gtsam/linear/VectorValues.h:172:22: error: expected ';' at end of member declaration
  2702. Vector& operator[](Key j) { return at(j); }
  2703. ^
  2704. /usr/local/include/gtsam/linear/VectorValues.h:172:28: error: expected ')' before 'j'
  2705. Vector& operator[](Key j) { return at(j); }
  2706. ^
  2707. /usr/local/include/gtsam/linear/VectorValues.h:176:30: error: declaration of 'operator[]' as non-function
  2708. const Vector& operator[](Key j) const { return at(j); }
  2709. ^
  2710. /usr/local/include/gtsam/linear/VectorValues.h:176:28: error: expected ';' at end of member declaration
  2711. const Vector& operator[](Key j) const { return at(j); }
  2712. ^
  2713. /usr/local/include/gtsam/linear/VectorValues.h:176:34: error: expected ')' before 'j'
  2714. const Vector& operator[](Key j) const { return at(j); }
  2715. ^
  2716. /usr/local/include/gtsam/linear/VectorValues.h:187:5: error: 'iterator' does not name a type
  2717. iterator insert(Key j, const Vector& value) {
  2718. ^
  2719. /usr/local/include/gtsam/linear/VectorValues.h:195:5: error: 'iterator' does not name a type
  2720. iterator insert(const std::pair<Key, Vector>& key_value);
  2721. ^
  2722. /usr/local/include/gtsam/linear/VectorValues.h:205:15: error: 'iterator' was not declared in this scope
  2723. std::pair<iterator, bool> tryInsert(Key j, const Vector& value) {
  2724. ^
  2725. /usr/local/include/gtsam/linear/VectorValues.h:205:15: note: suggested alternatives:
  2726. In file included from /usr/include/c++/4.8/bits/stl_algobase.h:65:0,
  2727. from /usr/include/c++/4.8/bits/char_traits.h:39,
  2728. from /usr/include/c++/4.8/ios:40,
  2729. from /usr/include/c++/4.8/istream:38,
  2730. from /usr/include/c++/4.8/sstream:38,
  2731. from /usr/include/c++/4.8/complex:45,
  2732. from /usr/local/include/gtsam/3rdparty/Eigen/Eigen/Core:28,
  2733. from /usr/local/include/gtsam/3rdparty/Eigen/Eigen/Dense:1,
  2734. from /usr/local/include/gtsam/base/OptionalJacobian.h:22,
  2735. from /usr/local/include/gtsam/base/Matrix.h:25,
  2736. from /usr/local/include/gtsam/base/Manifold.h:22,
  2737. from /usr/local/include/gtsam/base/Lie.h:25,
  2738. from /usr/local/include/gtsam/base/VectorSpace.h:11,
  2739. from /usr/local/include/gtsam/geometry/Point2.h:20,
  2740. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:24,
  2741. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  2742. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2743. /usr/include/c++/4.8/bits/stl_iterator_base_types.h:118:12: note: 'std::iterator'
  2744. struct iterator
  2745. ^
  2746. /usr/include/c++/4.8/bits/stl_iterator_base_types.h:118:12: note: 'std::iterator'
  2747. In file included from /usr/include/boost/concept_check.hpp:22:0,
  2748. from /usr/include/boost/range/concepts.hpp:19,
  2749. from /usr/local/include/gtsam/base/types.h:24,
  2750. from /usr/local/include/gtsam/global_includes.h:22,
  2751. from /usr/local/include/gtsam/base/Vector.h:27,
  2752. from /usr/local/include/gtsam/base/Matrix.h:26,
  2753. from /usr/local/include/gtsam/base/Manifold.h:22,
  2754. from /usr/local/include/gtsam/base/Lie.h:25,
  2755. from /usr/local/include/gtsam/base/VectorSpace.h:11,
  2756. from /usr/local/include/gtsam/geometry/Point2.h:20,
  2757. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:24,
  2758. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  2759. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2760. /usr/include/boost/iterator.hpp:55:10: note: 'boost::iterator'
  2761. struct iterator : boost::detail::iterator_base<Category, T, Distance, Pointer, Reference> {};
  2762. ^
  2763. In file included from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:25:0,
  2764. from /root/ws/admm-slam/cpp/src/ADMM.h:7,
  2765. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2766. /usr/local/include/gtsam/linear/VectorValues.h:205:29: error: template argument 1 is invalid
  2767. std::pair<iterator, bool> tryInsert(Key j, const Vector& value) {
  2768. ^
  2769. /usr/local/include/gtsam/linear/VectorValues.h:205:41: error: 'Key' has not been declared
  2770. std::pair<iterator, bool> tryInsert(Key j, const Vector& value) {
  2771. ^
  2772. /usr/local/include/gtsam/linear/VectorValues.h:209:16: error: 'Key' has not been declared
  2773. void erase(Key var) {
  2774. ^
  2775. /usr/local/include/gtsam/linear/VectorValues.h:217:5: error: 'iterator' does not name a type
  2776. iterator begin() { return values_.begin(); } ///< Iterator over variables
  2777. ^
  2778. /usr/local/include/gtsam/linear/VectorValues.h:218:5: error: 'const_iterator' does not name a type
  2779. const_iterator begin() const { return values_.begin(); } ///< Iterator over variables
  2780. ^
  2781. /usr/local/include/gtsam/linear/VectorValues.h:219:5: error: 'iterator' does not name a type
  2782. iterator end() { return values_.end(); } ///< Iterator over variables
  2783. ^
  2784. /usr/local/include/gtsam/linear/VectorValues.h:220:5: error: 'const_iterator' does not name a type
  2785. const_iterator end() const { return values_.end(); } ///< Iterator over variables
  2786. ^
  2787. /usr/local/include/gtsam/linear/VectorValues.h:227:5: error: 'iterator' does not name a type
  2788. iterator find(Key j) { return values_.find(j); }
  2789. ^
  2790. /usr/local/include/gtsam/linear/VectorValues.h:230:5: error: 'const_iterator' does not name a type
  2791. const_iterator find(Key j) const { return values_.find(j); }
  2792. ^
  2793. /usr/local/include/gtsam/linear/VectorValues.h:247:36: error: 'Key' was not declared in this scope
  2794. Vector vector(const FastVector<Key>& keys) const;
  2795. ^
  2796. /usr/local/include/gtsam/linear/VectorValues.h:247:39: error: template argument 1 is invalid
  2797. Vector vector(const FastVector<Key>& keys) const;
  2798. ^
  2799. /usr/local/include/gtsam/linear/VectorValues.h:250:12: error: 'gtsam::Vector gtsam::VectorValues::vector(const Dims&) const' cannot be overloaded
  2800. Vector vector(const Dims& dims) const;
  2801. ^
  2802. /usr/local/include/gtsam/linear/VectorValues.h:247:12: error: with 'gtsam::Vector gtsam::VectorValues::vector(const int&) const'
  2803. Vector vector(const FastVector<Key>& keys) const;
  2804. ^
  2805. In file included from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:25:0,
  2806. from /root/ws/admm-slam/cpp/src/ADMM.h:7,
  2807. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2808. /usr/local/include/gtsam/linear/VectorValues.h: In constructor 'gtsam::VectorValues::VectorValues()':
  2809. /usr/local/include/gtsam/linear/VectorValues.h:112:5: error: uninitialized reference member 'gtsam::VectorValues::at' [-fpermissive]
  2810. VectorValues() {}
  2811. ^
  2812. /usr/local/include/gtsam/linear/VectorValues.h: In copy constructor 'gtsam::VectorValues::VectorValues(const gtsam::VectorValues&)':
  2813. /usr/local/include/gtsam/linear/VectorValues.h:122:5: error: uninitialized reference member 'gtsam::VectorValues::at' [-fpermissive]
  2814. VectorValues(const VectorValues& c) : values_(c.values_) {}
  2815. ^
  2816. /usr/local/include/gtsam/linear/VectorValues.h: In member function 'std::size_t gtsam::VectorValues::size() const':
  2817. /usr/local/include/gtsam/linear/VectorValues.h:142:42: error: request for member 'size' in '((const gtsam::VectorValues*)this)->gtsam::VectorValues::values_', which is of non-class type 'const Values {aka const int}'
  2818. size_t size() const { return values_.size(); }
  2819. ^
  2820. /usr/local/include/gtsam/linear/VectorValues.h: In member function 'std::size_t gtsam::VectorValues::dim(int) const':
  2821. /usr/local/include/gtsam/linear/VectorValues.h:145:44: error: request for member 'rows' in '((Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, 1>, 1>*)((Eigen::DenseBase<Eigen::Matrix<double, -1, 1> >*)(&((const gtsam::VectorValues*)this)->gtsam::VectorValues::at)))->Eigen::DenseCoeffsBase<Derived, 1>::operator()<Eigen::Matrix<double, -1, 1> >(((Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, 1>, 1>::Index)j))', which is of non-class type 'Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, 1>, 1>::Scalar {aka double}'
  2822. size_t dim(Key j) const { return at(j).rows(); }
  2823. ^
  2824. /usr/local/include/gtsam/linear/VectorValues.h: In member function 'bool gtsam::VectorValues::exists(int) const':
  2825. /usr/local/include/gtsam/linear/VectorValues.h:148:45: error: 'find' was not declared in this scope
  2826. bool exists(Key j) const { return find(j) != end(); }
  2827. ^
  2828. /usr/local/include/gtsam/linear/VectorValues.h:148:45: note: suggested alternatives:
  2829. In file included from /usr/include/c++/4.8/algorithm:62:0,
  2830. from /usr/local/include/gtsam/3rdparty/Eigen/Eigen/Core:160,
  2831. from /usr/local/include/gtsam/3rdparty/Eigen/Eigen/Dense:1,
  2832. from /usr/local/include/gtsam/base/OptionalJacobian.h:22,
  2833. from /usr/local/include/gtsam/base/Matrix.h:25,
  2834. from /usr/local/include/gtsam/base/Manifold.h:22,
  2835. from /usr/local/include/gtsam/base/Lie.h:25,
  2836. from /usr/local/include/gtsam/base/VectorSpace.h:11,
  2837. from /usr/local/include/gtsam/geometry/Point2.h:20,
  2838. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:24,
  2839. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  2840. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2841. /usr/include/c++/4.8/bits/stl_algo.h:4432:5: note: 'std::find'
  2842. find(_InputIterator __first, _InputIterator __last,
  2843. ^
  2844. In file included from /usr/include/boost/mpl/aux_/contains_impl.hpp:20:0,
  2845. from /usr/include/boost/mpl/contains.hpp:20,
  2846. from /usr/include/boost/math/policies/policy.hpp:10,
  2847. from /usr/include/boost/math/special_functions/math_fwd.hpp:28,
  2848. from /usr/include/boost/math/special_functions/fpclassify.hpp:19,
  2849. from /usr/local/include/gtsam/base/Matrix.h:36,
  2850. from /usr/local/include/gtsam/base/Manifold.h:22,
  2851. from /usr/local/include/gtsam/base/Lie.h:25,
  2852. from /usr/local/include/gtsam/base/VectorSpace.h:11,
  2853. from /usr/local/include/gtsam/geometry/Point2.h:20,
  2854. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:24,
  2855. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  2856. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2857. /usr/include/boost/mpl/find.hpp:28:8: note: 'boost::mpl::find'
  2858. struct find
  2859. ^
  2860. In file included from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:25:0,
  2861. from /root/ws/admm-slam/cpp/src/ADMM.h:7,
  2862. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2863. /usr/local/include/gtsam/linear/VectorValues.h:148:54: error: 'end' was not declared in this scope
  2864. bool exists(Key j) const { return find(j) != end(); }
  2865. ^
  2866. /usr/local/include/gtsam/linear/VectorValues.h:148:54: note: suggested alternatives:
  2867. In file included from /usr/include/boost/range/concepts.hpp:22:0,
  2868. from /usr/local/include/gtsam/base/types.h:24,
  2869. from /usr/local/include/gtsam/global_includes.h:22,
  2870. from /usr/local/include/gtsam/base/Vector.h:27,
  2871. from /usr/local/include/gtsam/base/Matrix.h:26,
  2872. from /usr/local/include/gtsam/base/Manifold.h:22,
  2873. from /usr/local/include/gtsam/base/Lie.h:25,
  2874. from /usr/local/include/gtsam/base/VectorSpace.h:11,
  2875. from /usr/local/include/gtsam/geometry/Point2.h:20,
  2876. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:24,
  2877. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  2878. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2879. /usr/include/boost/range/end.hpp:106:61: note: 'boost::range_adl_barrier::end'
  2880. inline BOOST_DEDUCED_TYPENAME range_iterator<const T>::type end( const T& r )
  2881. ^
  2882. In file included from /usr/include/boost/mpl/list/aux_/begin_end.hpp:17:0,
  2883. from /usr/include/boost/mpl/list/list0.hpp:27,
  2884. from /usr/include/boost/mpl/list/list10.hpp:18,
  2885. from /usr/include/boost/mpl/list/list20.hpp:18,
  2886. from /usr/include/boost/mpl/list.hpp:36,
  2887. from /usr/include/boost/math/policies/policy.hpp:9,
  2888. from /usr/include/boost/math/special_functions/math_fwd.hpp:28,
  2889. from /usr/include/boost/math/special_functions/fpclassify.hpp:19,
  2890. from /usr/local/include/gtsam/base/Matrix.h:36,
  2891. from /usr/local/include/gtsam/base/Manifold.h:22,
  2892. from /usr/local/include/gtsam/base/Lie.h:25,
  2893. from /usr/local/include/gtsam/base/VectorSpace.h:11,
  2894. from /usr/local/include/gtsam/geometry/Point2.h:20,
  2895. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:24,
  2896. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  2897. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2898. /usr/include/boost/mpl/begin_end_fwd.hpp:23:38: note: 'boost::mpl::end'
  2899. template< typename Sequence > struct end;
  2900. ^
  2901. In file included from /usr/include/boost/range/concepts.hpp:22:0,
  2902. from /usr/local/include/gtsam/base/types.h:24,
  2903. from /usr/local/include/gtsam/global_includes.h:22,
  2904. from /usr/local/include/gtsam/base/Vector.h:27,
  2905. from /usr/local/include/gtsam/base/Matrix.h:26,
  2906. from /usr/local/include/gtsam/base/Manifold.h:22,
  2907. from /usr/local/include/gtsam/base/Lie.h:25,
  2908. from /usr/local/include/gtsam/base/VectorSpace.h:11,
  2909. from /usr/local/include/gtsam/geometry/Point2.h:20,
  2910. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:24,
  2911. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  2912. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2913. /usr/include/boost/range/end.hpp:106:61: note: 'boost::range_adl_barrier::end'
  2914. inline BOOST_DEDUCED_TYPENAME range_iterator<const T>::type end( const T& r )
  2915. ^
  2916. In file included from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:25:0,
  2917. from /root/ws/admm-slam/cpp/src/ADMM.h:7,
  2918. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2919. /usr/local/include/gtsam/linear/VectorValues.h: In member function 'int gtsam::VectorValues::tryInsert(int, const Vector&)':
  2920. /usr/local/include/gtsam/linear/VectorValues.h:206:22: error: request for member 'insert' in '((gtsam::VectorValues*)this)->gtsam::VectorValues::values_', which is of non-class type 'gtsam::VectorValues::Values {aka int}'
  2921. return values_.insert(std::make_pair(j, value)); }
  2922. ^
  2923. /usr/local/include/gtsam/linear/VectorValues.h: In member function 'void gtsam::VectorValues::erase(int)':
  2924. /usr/local/include/gtsam/linear/VectorValues.h:210:18: error: request for member 'unsafe_erase' in '((gtsam::VectorValues*)this)->gtsam::VectorValues::values_', which is of non-class type 'gtsam::VectorValues::Values {aka int}'
  2925. if(values_.unsafe_erase(var) == 0)
  2926. ^
  2927. /usr/local/include/gtsam/linear/VectorValues.h:211:85: error: 'gtsam::DefaultKeyFormatter' cannot be used as a function
  2928. throw std::invalid_argument("Requested variable '" + DefaultKeyFormatter(var) + "', is not in this VectorValues.");
  2929. ^
  2930. In file included from /usr/local/include/gtsam/linear/GaussianConditional.h:26:0,
  2931. from /root/ws/admm-slam/cpp/src/ADMM.h:12,
  2932. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2933. /usr/local/include/gtsam/inference/Conditional.h: At global scope:
  2934. /usr/local/include/gtsam/inference/Conditional.h:90:5: error: 'Key' does not name a type
  2935. Key firstFrontalKey() const {
  2936. ^
  2937. In file included from /root/ws/admm-slam/cpp/src/ADMM.h:12:0,
  2938. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2939. /usr/local/include/gtsam/linear/GaussianConditional.h:50:29: error: expected ')' before 'key'
  2940. GaussianConditional(Key key, const Vector& d, const Matrix& R,
  2941. ^
  2942. /usr/local/include/gtsam/linear/GaussianConditional.h:54:29: error: expected ')' before 'key'
  2943. GaussianConditional(Key key, const Vector& d, const Matrix& R,
  2944. ^
  2945. /usr/local/include/gtsam/linear/GaussianConditional.h:58:29: error: expected ')' before 'key'
  2946. GaussianConditional(Key key, const Vector& d, const Matrix& R,
  2947. ^
  2948. In file included from /root/ws/admm-slam/cpp/src/ADMM.h:15:0,
  2949. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2950. /usr/local/include/gtsam/slam/BetweenFactor.h:58:23: error: expected ')' before 'key1'
  2951. BetweenFactor(Key key1, Key key2, const VALUE& measured,
  2952. ^
  2953. /usr/local/include/gtsam/slam/BetweenFactor.h:142:46: error: 'Key' has not been declared
  2954. BetweenConstraint(const VALUE& measured, Key key1, Key key2, double mu = 1000.0) :
  2955. ^
  2956. /usr/local/include/gtsam/slam/BetweenFactor.h:142:56: error: 'Key' has not been declared
  2957. BetweenConstraint(const VALUE& measured, Key key1, Key key2, double mu = 1000.0) :
  2958. ^
  2959. In file included from /root/ws/admm-slam/cpp/src/ADMM.h:16:0,
  2960. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2961. /usr/local/include/gtsam/slam/dataset.h:103:50: error: 'Key' has not been declared
  2962. SharedNoiseModel model = SharedNoiseModel(), Key maxID = 0, bool addNoise =
  2963. ^
  2964. In file included from /usr/local/include/gtsam/inference/graph.h:112:0,
  2965. from /usr/local/include/gtsam/slam/lago.h:40,
  2966. from /root/ws/admm-slam/cpp/src/ADMM.h:17,
  2967. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2968. /usr/local/include/gtsam/inference/graph-inl.h: In function 'boost::tuples::tuple<G, V, std::map<KEY, V> > gtsam::predecessorMap2Graph(const gtsam::PredecessorMap<KEY>&)':
  2969. /usr/local/include/gtsam/inference/graph-inl.h:124:12: error: 'child_parent' does not name a type
  2970. for(auto child_parent: p_map) {
  2971. ^
  2972. /usr/local/include/gtsam/inference/graph-inl.h:146:3: error: expected ';' before 'if'
  2973. if (!foundRoot)
  2974. ^
  2975. /usr/local/include/gtsam/inference/graph-inl.h:146:3: error: expected primary-expression before 'if'
  2976. /usr/local/include/gtsam/inference/graph-inl.h:146:3: error: expected ';' before 'if'
  2977. /usr/local/include/gtsam/inference/graph-inl.h:146:3: error: expected primary-expression before 'if'
  2978. /usr/local/include/gtsam/inference/graph-inl.h:146:3: error: expected ')' before 'if'
  2979. /usr/local/include/gtsam/inference/graph-inl.h: In function 'boost::shared_ptr<gtsam::Values> gtsam::composePoses(const G&, const gtsam::PredecessorMap<KEY>&, const POSE&)':
  2980. /usr/local/include/gtsam/inference/graph-inl.h:194:43: error: range-based 'for' loops are not allowed in C++98 mode
  2981. for(typename G::sharedFactor nl_factor: graph) {
  2982. ^
  2983. /usr/local/include/gtsam/inference/graph-inl.h: In function 'gtsam::PredecessorMap<KEY> gtsam::findMinimumSpanningTree(const G&)':
  2984. /usr/local/include/gtsam/inference/graph-inl.h:244:48: error: range-based 'for' loops are not allowed in C++98 mode
  2985. for(const typename SDGraph<KEY>::Vertex& vi: p_map){
  2986. ^
  2987. /usr/local/include/gtsam/inference/graph-inl.h: In function 'void gtsam::split(const G&, const gtsam::PredecessorMap<KEY>&, G&, G&)':
  2988. /usr/local/include/gtsam/inference/graph-inl.h:259:24: error: range-based 'for' loops are not allowed in C++98 mode
  2989. for(const F& factor: g)
  2990. ^
  2991. In file included from /root/ws/admm-slam/cpp/src/ADMM.h:17:0,
  2992. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  2993. /usr/local/include/gtsam/slam/lago.h: At global scope:
  2994. /usr/local/include/gtsam/slam/lago.h:45:18: error: 'Key' was not declared in this scope
  2995. typedef std::map<Key, double> key2doubleMap;
  2996. ^
  2997. /usr/local/include/gtsam/slam/lago.h:45:29: error: template argument 1 is invalid
  2998. typedef std::map<Key, double> key2doubleMap;
  2999. ^
  3000. /usr/local/include/gtsam/slam/lago.h:45:29: error: template argument 3 is invalid
  3001. /usr/local/include/gtsam/slam/lago.h:45:29: error: template argument 4 is invalid
  3002. /usr/local/include/gtsam/slam/lago.h:45:44: error: invalid type in declaration before ';' token
  3003. typedef std::map<Key, double> key2doubleMap;
  3004. ^
  3005. /usr/local/include/gtsam/slam/lago.h:52:62: error: 'Key' was not declared in this scope
  3006. const key2doubleMap& deltaThetaMap, const PredecessorMap<Key>& tree);
  3007. ^
  3008. /usr/local/include/gtsam/slam/lago.h:52:65: error: template argument 1 is invalid
  3009. const key2doubleMap& deltaThetaMap, const PredecessorMap<Key>& tree);
  3010. ^
  3011. /usr/local/include/gtsam/slam/lago.h:65:36: error: 'Key' was not declared in this scope
  3012. /*INPUTS*/const PredecessorMap<Key>& tree, const NonlinearFactorGraph& g);
  3013. ^
  3014. /usr/local/include/gtsam/slam/lago.h:65:39: error: template argument 1 is invalid
  3015. /*INPUTS*/const PredecessorMap<Key>& tree, const NonlinearFactorGraph& g);
  3016. ^
  3017. /usr/local/include/gtsam/slam/lago.h:71:67: error: 'Key' was not declared in this scope
  3018. const key2doubleMap& orientationsToRoot, const PredecessorMap<Key>& tree);
  3019. ^
  3020. /usr/local/include/gtsam/slam/lago.h:71:70: error: template argument 1 is invalid
  3021. const key2doubleMap& orientationsToRoot, const PredecessorMap<Key>& tree);
  3022. ^
  3023. In file included from /root/ws/admm-slam/cpp/src/ADMM.h:24:0,
  3024. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  3025. /root/ws/admm-slam/cpp/src/BiasedPriorFactor.h:57:27: error: expected ')' before 'key'
  3026. BiasedPriorFactor(Key key, const VALUE& prior, const BIAS& bias, const SharedNoiseModel& model) :
  3027. ^
  3028. /root/ws/admm-slam/cpp/src/ADMM.cpp: In member function 'void ADMM::logResult(int, double, double, double)':
  3029. /root/ws/admm-slam/cpp/src/ADMM.cpp:26:20: error: expected primary-expression before 'const'
  3030. BOOST_FOREACH (const Values::ConstKeyValuePair &keyValue, subinitials_[i]){
  3031. ^
  3032. /root/ws/admm-slam/cpp/src/ADMM.cpp:26:78: error: 'BOOST_FOREACH' was not declared in this scope
  3033. BOOST_FOREACH (const Values::ConstKeyValuePair &keyValue, subinitials_[i]){
  3034. ^
  3035. /root/ws/admm-slam/cpp/src/ADMM.cpp:26:79: error: expected ';' before '{' token
  3036. BOOST_FOREACH (const Values::ConstKeyValuePair &keyValue, subinitials_[i]){
  3037. ^
  3038. /root/ws/admm-slam/cpp/src/ADMM.cpp: In member function 'void ADMM::FlaggedInitialization()':
  3039. /root/ws/admm-slam/cpp/src/ADMM.cpp:96:94: error: no matching function for call to 'gtsam::BiasedPriorFactor<gtsam::Pose2, Eigen::Matrix<double, -1, 1> >::BiasedPriorFactor(int&, gtsam::Pose2&, const Eigen::CwiseUnaryOp<Eigen::internal::scalar_opposite_op<double>, const Eigen::Matrix<double, -1, 1> >, gtsam::SharedNoiseModel&)'
  3040. sub_graph.add(BiasedPriorFactor<Pose2, Vector>(key, pose_z, -u_k, rhoNoiseModel));
  3041. ^
  3042. /root/ws/admm-slam/cpp/src/ADMM.cpp:96:94: note: candidates are:
  3043. In file included from /root/ws/admm-slam/cpp/src/ADMM.h:24:0,
  3044. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  3045. /root/ws/admm-slam/cpp/src/BiasedPriorFactor.h:52:5: note: gtsam::BiasedPriorFactor<VALUE, BIAS>::BiasedPriorFactor() [with VALUE = gtsam::Pose2; BIAS = Eigen::Matrix<double, -1, 1>]
  3046. BiasedPriorFactor() {}
  3047. ^
  3048. /root/ws/admm-slam/cpp/src/BiasedPriorFactor.h:52:5: note: candidate expects 0 arguments, 4 provided
  3049. /root/ws/admm-slam/cpp/src/BiasedPriorFactor.h:28:9: note: gtsam::BiasedPriorFactor<gtsam::Pose2, Eigen::Matrix<double, -1, 1> >::BiasedPriorFactor(const gtsam::BiasedPriorFactor<gtsam::Pose2, Eigen::Matrix<double, -1, 1> >&)
  3050. class BiasedPriorFactor: public NoiseModelFactor1<VALUE> {
  3051. ^
  3052. /root/ws/admm-slam/cpp/src/BiasedPriorFactor.h:28:9: note: candidate expects 1 argument, 4 provided
  3053. /root/ws/admm-slam/cpp/src/ADMM.cpp:111:93: error: no matching function for call to 'gtsam::BiasedPriorFactor<gtsam::Pose2, Eigen::Matrix<double, -1, 1> >::BiasedPriorFactor(int&, gtsam::Pose2&, gtsam::Vector&, gtsam::SharedNoiseModel&)'
  3054. sub_graph.add(BiasedPriorFactor<Pose2, Vector>(key, pose_x, u_k, rhoNoiseModel));
  3055. ^
  3056. /root/ws/admm-slam/cpp/src/ADMM.cpp:111:93: note: candidates are:
  3057. In file included from /root/ws/admm-slam/cpp/src/ADMM.h:24:0,
  3058. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  3059. /root/ws/admm-slam/cpp/src/BiasedPriorFactor.h:52:5: note: gtsam::BiasedPriorFactor<VALUE, BIAS>::BiasedPriorFactor() [with VALUE = gtsam::Pose2; BIAS = Eigen::Matrix<double, -1, 1>]
  3060. BiasedPriorFactor() {}
  3061. ^
  3062. /root/ws/admm-slam/cpp/src/BiasedPriorFactor.h:52:5: note: candidate expects 0 arguments, 4 provided
  3063. /root/ws/admm-slam/cpp/src/BiasedPriorFactor.h:28:9: note: gtsam::BiasedPriorFactor<gtsam::Pose2, Eigen::Matrix<double, -1, 1> >::BiasedPriorFactor(const gtsam::BiasedPriorFactor<gtsam::Pose2, Eigen::Matrix<double, -1, 1> >&)
  3064. class BiasedPriorFactor: public NoiseModelFactor1<VALUE> {
  3065. ^
  3066. /root/ws/admm-slam/cpp/src/BiasedPriorFactor.h:28:9: note: candidate expects 1 argument, 4 provided
  3067. /root/ws/admm-slam/cpp/src/ADMM.cpp: In member function 'std::pair<double, double> ADMM::iterate(int)':
  3068. /root/ws/admm-slam/cpp/src/ADMM.cpp:200:88: error: no matching function for call to 'gtsam::BiasedPriorFactor<gtsam::Pose2, Eigen::Matrix<double, -1, 1> >::BiasedPriorFactor(int&, gtsam::Pose2&, const Eigen::CwiseUnaryOp<Eigen::internal::scalar_opposite_op<double>, const Eigen::Matrix<double, -1, 1> >, gtsam::SharedNoiseModel&)'
  3069. sub_graph.add(BiasedPriorFactor<Pose2, Vector>(key, pose_z, -u_k, rhoNoiseModel));
  3070. ^
  3071. /root/ws/admm-slam/cpp/src/ADMM.cpp:200:88: note: candidates are:
  3072. In file included from /root/ws/admm-slam/cpp/src/ADMM.h:24:0,
  3073. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  3074. /root/ws/admm-slam/cpp/src/BiasedPriorFactor.h:52:5: note: gtsam::BiasedPriorFactor<VALUE, BIAS>::BiasedPriorFactor() [with VALUE = gtsam::Pose2; BIAS = Eigen::Matrix<double, -1, 1>]
  3075. BiasedPriorFactor() {}
  3076. ^
  3077. /root/ws/admm-slam/cpp/src/BiasedPriorFactor.h:52:5: note: candidate expects 0 arguments, 4 provided
  3078. /root/ws/admm-slam/cpp/src/BiasedPriorFactor.h:28:9: note: gtsam::BiasedPriorFactor<gtsam::Pose2, Eigen::Matrix<double, -1, 1> >::BiasedPriorFactor(const gtsam::BiasedPriorFactor<gtsam::Pose2, Eigen::Matrix<double, -1, 1> >&)
  3079. class BiasedPriorFactor: public NoiseModelFactor1<VALUE> {
  3080. ^
  3081. /root/ws/admm-slam/cpp/src/BiasedPriorFactor.h:28:9: note: candidate expects 1 argument, 4 provided
  3082. /root/ws/admm-slam/cpp/src/ADMM.cpp:209:87: error: no matching function for call to 'gtsam::BiasedPriorFactor<gtsam::Pose2, Eigen::Matrix<double, -1, 1> >::BiasedPriorFactor(int&, gtsam::Pose2&, gtsam::Vector&, gtsam::SharedNoiseModel&)'
  3083. sub_graph.add(BiasedPriorFactor<Pose2, Vector>(key, pose_x, u_k, rhoNoiseModel));
  3084. ^
  3085. /root/ws/admm-slam/cpp/src/ADMM.cpp:209:87: note: candidates are:
  3086. In file included from /root/ws/admm-slam/cpp/src/ADMM.h:24:0,
  3087. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  3088. /root/ws/admm-slam/cpp/src/BiasedPriorFactor.h:52:5: note: gtsam::BiasedPriorFactor<VALUE, BIAS>::BiasedPriorFactor() [with VALUE = gtsam::Pose2; BIAS = Eigen::Matrix<double, -1, 1>]
  3089. BiasedPriorFactor() {}
  3090. ^
  3091. /root/ws/admm-slam/cpp/src/BiasedPriorFactor.h:52:5: note: candidate expects 0 arguments, 4 provided
  3092. /root/ws/admm-slam/cpp/src/BiasedPriorFactor.h:28:9: note: gtsam::BiasedPriorFactor<gtsam::Pose2, Eigen::Matrix<double, -1, 1> >::BiasedPriorFactor(const gtsam::BiasedPriorFactor<gtsam::Pose2, Eigen::Matrix<double, -1, 1> >&)
  3093. class BiasedPriorFactor: public NoiseModelFactor1<VALUE> {
  3094. ^
  3095. /root/ws/admm-slam/cpp/src/BiasedPriorFactor.h:28:9: note: candidate expects 1 argument, 4 provided
  3096. In file included from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:25:0,
  3097. from /root/ws/admm-slam/cpp/src/ADMM.h:7,
  3098. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  3099. /usr/local/include/gtsam/linear/VectorValues.h: In member function 'gtsam::VectorValues& gtsam::VectorValues::operator=(const gtsam::VectorValues&)':
  3100. /usr/local/include/gtsam/linear/VectorValues.h:90:22: error: non-static reference member 'gtsam::Vector& gtsam::VectorValues::at', can't use default assignment operator
  3101. class GTSAM_EXPORT VectorValues {
  3102. ^
  3103. /root/ws/admm-slam/cpp/src/ADMM.cpp: In member function 'std::pair<double, double> ADMM::iterate(int)':
  3104. /root/ws/admm-slam/cpp/src/ADMM.cpp:232:31: note: synthesized method 'gtsam::VectorValues& gtsam::VectorValues::operator=(const gtsam::VectorValues&)' first required here
  3105. subgraph_gradient[sub_id] = subgraphs_[sub_id].linearize(subinitials_[sub_id])->gradientAtZero();
  3106. ^
  3107. /root/ws/admm-slam/cpp/src/ADMM.cpp:259:45: error: no match for 'operator+=' (operand types are 'Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, 1>, 1>::Scalar {aka double}' and 'gtsam::Vector {aka Eigen::Matrix<double, -1, 1>}')
  3108. subgraph_gradient[sub_map1].at(key) += scaled_Jx;
  3109. ^
  3110. /root/ws/admm-slam/cpp/src/ADMM.cpp:262:58: error: no matching function for call to 'gtsam::VectorValues::insert(int&, gtsam::Vector&)'
  3111. subgraph_gradient[sub_map1].insert(key, scaled_Jx);
  3112. ^
  3113. /root/ws/admm-slam/cpp/src/ADMM.cpp:262:58: note: candidate is:
  3114. In file included from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:25:0,
  3115. from /root/ws/admm-slam/cpp/src/ADMM.h:7,
  3116. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  3117. /usr/local/include/gtsam/linear/VectorValues.h:199:10: note: void gtsam::VectorValues::insert(const gtsam::VectorValues&)
  3118. void insert(const VectorValues& values);
  3119. ^
  3120. /usr/local/include/gtsam/linear/VectorValues.h:199:10: note: candidate expects 1 argument, 2 provided
  3121. /root/ws/admm-slam/cpp/src/ADMM.cpp:266:45: error: no match for 'operator+=' (operand types are 'Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, 1>, 1>::Scalar {aka double}' and 'gtsam::Vector {aka Eigen::Matrix<double, -1, 1>}')
  3122. subgraph_gradient[sub_map2].at(key) += scaled_Jz;
  3123. ^
  3124. /root/ws/admm-slam/cpp/src/ADMM.cpp:269:58: error: no matching function for call to 'gtsam::VectorValues::insert(int&, gtsam::Vector&)'
  3125. subgraph_gradient[sub_map2].insert(key, scaled_Jz);
  3126. ^
  3127. /root/ws/admm-slam/cpp/src/ADMM.cpp:269:58: note: candidate is:
  3128. In file included from /usr/local/include/gtsam/nonlinear/LevenbergMarquardtOptimizer.h:25:0,
  3129. from /root/ws/admm-slam/cpp/src/ADMM.h:7,
  3130. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  3131. /usr/local/include/gtsam/linear/VectorValues.h:199:10: note: void gtsam::VectorValues::insert(const gtsam::VectorValues&)
  3132. void insert(const VectorValues& values);
  3133. ^
  3134. /usr/local/include/gtsam/linear/VectorValues.h:199:10: note: candidate expects 1 argument, 2 provided
  3135. /root/ws/admm-slam/cpp/src/ADMM.cpp:280:86: error: no matching function for call to 'gtsam::BetweenFactor<gtsam::Pose2>::BetweenFactor(int, int, gtsam::Pose2, gtsam::SharedNoiseModel&)'
  3136. BetweenFactor<Pose2> factor = BetweenFactor<Pose2>(0, 1, Pose2(), rhoNoiseModel);
  3137. ^
  3138. /root/ws/admm-slam/cpp/src/ADMM.cpp:280:86: note: candidates are:
  3139. In file included from /root/ws/admm-slam/cpp/src/ADMM.h:15:0,
  3140. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  3141. /usr/local/include/gtsam/slam/BetweenFactor.h:55:5: note: gtsam::BetweenFactor<VALUE>::BetweenFactor() [with VALUE = gtsam::Pose2]
  3142. BetweenFactor() {}
  3143. ^
  3144. /usr/local/include/gtsam/slam/BetweenFactor.h:55:5: note: candidate expects 0 arguments, 4 provided
  3145. /usr/local/include/gtsam/slam/BetweenFactor.h:32:9: note: gtsam::BetweenFactor<gtsam::Pose2>::BetweenFactor(const gtsam::BetweenFactor<gtsam::Pose2>&)
  3146. class BetweenFactor: public NoiseModelFactor2<VALUE, VALUE> {
  3147. ^
  3148. /usr/local/include/gtsam/slam/BetweenFactor.h:32:9: note: candidate expects 1 argument, 4 provided
  3149. In file included from /usr/include/c++/4.8/algorithm:62:0,
  3150. from /usr/local/include/gtsam/3rdparty/Eigen/Eigen/Core:160,
  3151. from /usr/local/include/gtsam/3rdparty/Eigen/Eigen/Dense:1,
  3152. from /usr/local/include/gtsam/base/OptionalJacobian.h:22,
  3153. from /usr/local/include/gtsam/base/Matrix.h:25,
  3154. from /usr/local/include/gtsam/base/Manifold.h:22,
  3155. from /usr/local/include/gtsam/base/Lie.h:25,
  3156. from /usr/local/include/gtsam/base/VectorSpace.h:11,
  3157. from /usr/local/include/gtsam/geometry/Point2.h:20,
  3158. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:24,
  3159. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  3160. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  3161. /usr/include/c++/4.8/bits/stl_algo.h: In instantiation of '_IIter std::find(_IIter, _IIter, const _Tp&) [with _IIter = int; _Tp = int]':
  3162. /usr/local/include/gtsam/inference/Factor.h:112:78: required from here
  3163. /usr/include/c++/4.8/bits/stl_algo.h:4441:44: error: no matching function for call to '__iterator_category(int&)'
  3164. std::__iterator_category(__first));
  3165. ^
  3166. /usr/include/c++/4.8/bits/stl_algo.h:4441:44: note: candidate is:
  3167. In file included from /usr/include/c++/4.8/bits/stl_algobase.h:65:0,
  3168. from /usr/include/c++/4.8/bits/char_traits.h:39,
  3169. from /usr/include/c++/4.8/ios:40,
  3170. from /usr/include/c++/4.8/istream:38,
  3171. from /usr/include/c++/4.8/sstream:38,
  3172. from /usr/include/c++/4.8/complex:45,
  3173. from /usr/local/include/gtsam/3rdparty/Eigen/Eigen/Core:28,
  3174. from /usr/local/include/gtsam/3rdparty/Eigen/Eigen/Dense:1,
  3175. from /usr/local/include/gtsam/base/OptionalJacobian.h:22,
  3176. from /usr/local/include/gtsam/base/Matrix.h:25,
  3177. from /usr/local/include/gtsam/base/Manifold.h:22,
  3178. from /usr/local/include/gtsam/base/Lie.h:25,
  3179. from /usr/local/include/gtsam/base/VectorSpace.h:11,
  3180. from /usr/local/include/gtsam/geometry/Point2.h:20,
  3181. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:24,
  3182. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  3183. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  3184. /usr/include/c++/4.8/bits/stl_iterator_base_types.h:201:5: note: template<class _Iter> typename std::iterator_traits<_Iterator>::iterator_category std::__iterator_category(const _Iter&)
  3185. __iterator_category(const _Iter&)
  3186. ^
  3187. /usr/include/c++/4.8/bits/stl_iterator_base_types.h:201:5: note: template argument deduction/substitution failed:
  3188. In file included from /usr/local/include/gtsam/linear/GaussianFactor.h:23:0,
  3189. from /usr/local/include/gtsam/linear/JacobianFactor.h:21,
  3190. from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:25,
  3191. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:25,
  3192. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  3193. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  3194. /usr/local/include/gtsam/inference/Factor.h: In instantiation of 'gtsam::Factor::Factor(const CONTAINER&) [with CONTAINER = gtsam::JacobianFactor]':
  3195. /usr/local/include/gtsam/linear/GaussianFactor.h:51:54: required from 'gtsam::GaussianFactor::GaussianFactor(const CONTAINER&) [with CONTAINER = gtsam::JacobianFactor]'
  3196. /usr/local/include/gtsam/linear/JacobianFactor.h:111:87: required from here
  3197. /usr/local/include/gtsam/inference/Factor.h:80:76: error: expression list treated as compound expression in mem-initializer [-fpermissive]
  3198. explicit Factor(const CONTAINER& keys) : keys_(keys.begin(), keys.end()) {}
  3199. ^
  3200. In file included from /usr/local/include/gtsam/inference/FactorGraph.h:26:0,
  3201. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:26,
  3202. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  3203. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  3204. /usr/include/boost/assign/list_inserter.hpp: In instantiation of 'void boost::assign_detail::call_push_back<C>::operator()(T) [with T = int; C = gtsam::Ordering]':
  3205. /usr/include/boost/assign/list_inserter.hpp:272:13: required from 'boost::assign::list_inserter<Function, Argument>& boost::assign::list_inserter<Function, Argument>::operator()(const T&) [with T = int; Function = boost::assign_detail::call_push_back<gtsam::Ordering>; Argument = boost::assign_detail::forward_n_arguments]'
  3206. /usr/local/include/gtsam/inference/Ordering.h:69:63: required from here
  3207. /usr/include/boost/assign/list_inserter.hpp:68:13: error: 'class gtsam::Ordering' has no member named 'push_back'
  3208. c_.push_back( r );
  3209. ^
  3210. In file included from /usr/local/include/gtsam/nonlinear/Values.h:532:0,
  3211. from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:23,
  3212. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:25,
  3213. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  3214. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  3215. /usr/local/include/gtsam/nonlinear/Values-inl.h: In instantiation of 'static CastedKeyValuePairType gtsam::ValuesCastHelper<gtsam::Value, CastedKeyValuePairType, KeyValuePairType>::cast(KeyValuePairType) [with CastedKeyValuePairType = gtsam::_ValuesKeyValuePair<gtsam::Value>; KeyValuePairType = gtsam::Values::KeyValuePair]':
  3216. /usr/local/include/gtsam/nonlinear/Values-inl.h:141:17: required from 'gtsam::Values::Filtered<ValueType>::Filtered(const boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>&, gtsam::Values&) [with ValueType = gtsam::Value]'
  3217. /usr/local/include/gtsam/nonlinear/Values-inl.h:246:91: required from 'gtsam::Values::Filtered<ValueType> gtsam::Values::filter(const int&) [with ValueType = gtsam::Value]'
  3218. /usr/local/include/gtsam/nonlinear/Values-inl.h:239:35: required from here
  3219. /usr/local/include/gtsam/nonlinear/Values-inl.h:78:67: error: 'struct gtsam::Values::KeyValuePair' has no member named 'key'
  3220. return CastedKeyValuePairType(key_value.key, key_value.value);
  3221. ^
  3222. /usr/local/include/gtsam/nonlinear/Values-inl.h: In instantiation of 'static CastedKeyValuePairType gtsam::ValuesCastHelper<const gtsam::Value, CastedKeyValuePairType, KeyValuePairType>::cast(KeyValuePairType) [with CastedKeyValuePairType = gtsam::_ValuesConstKeyValuePair<gtsam::Value>; KeyValuePairType = gtsam::Values::ConstKeyValuePair]':
  3223. /usr/local/include/gtsam/nonlinear/Values-inl.h:149:17: required from 'gtsam::Values::Filtered<ValueType>::Filtered(const boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>&, gtsam::Values&) [with ValueType = gtsam::Value]'
  3224. /usr/local/include/gtsam/nonlinear/Values-inl.h:246:91: required from 'gtsam::Values::Filtered<ValueType> gtsam::Values::filter(const int&) [with ValueType = gtsam::Value]'
  3225. /usr/local/include/gtsam/nonlinear/Values-inl.h:239:35: required from here
  3226. /usr/local/include/gtsam/nonlinear/Values-inl.h:88:67: error: 'struct gtsam::Values::ConstKeyValuePair' has no member named 'key'
  3227. return CastedKeyValuePairType(key_value.key, key_value.value);
  3228. ^
  3229. In file included from /usr/local/include/gtsam/inference/Ordering.h:22:0,
  3230. from /usr/local/include/gtsam/inference/EliminateableFactorGraph.h:26,
  3231. from /usr/local/include/gtsam/linear/GaussianFactorGraph.h:25,
  3232. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizerParams.h:24,
  3233. from /usr/local/include/gtsam/nonlinear/NonlinearOptimizer.h:22,
  3234. from /usr/local/include/gtsam/nonlinear/GaussNewtonOptimizer.h:21,
  3235. from /root/ws/admm-slam/cpp/src/ADMM.h:6,
  3236. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  3237. /usr/local/include/gtsam/inference/VariableIndex.h: In instantiation of 'gtsam::VariableIndex::VariableIndex(const FG&) [with FG = gtsam::FactorGraph<gtsam::NonlinearFactor>]':
  3238. /usr/local/include/gtsam/inference/Ordering.h:85:41: required from 'static gtsam::Ordering gtsam::Ordering::Colamd(const gtsam::FactorGraph<DERIVEDFACTOR>&) [with FACTOR = gtsam::NonlinearFactor]'
  3239. /usr/local/include/gtsam/inference/Ordering.h:208:26: required from 'static gtsam::Ordering gtsam::Ordering::Create(gtsam::Ordering::OrderingType, const gtsam::FactorGraph<DERIVEDFACTOR>&) [with FACTOR = gtsam::NonlinearFactor]'
  3240. /usr/local/include/gtsam/nonlinear/LevenbergMarquardtParams.h:112:68: required from here
  3241. /usr/local/include/gtsam/inference/VariableIndex.h:74:3: error: uninitialized reference member 'gtsam::VariableIndex::internalAt' [-fpermissive]
  3242. VariableIndex(const FG& factorGraph) : nFactors_(0), nEntries_(0) { augment(factorGraph); }
  3243. ^
  3244. In file included from /usr/local/include/gtsam/nonlinear/Values.h:31:0,
  3245. from /usr/local/include/gtsam/nonlinear/NonlinearFactor.h:23,
  3246. from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:25,
  3247. from /root/ws/admm-slam/cpp/src/ADMM.h:4,
  3248. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  3249. /usr/include/boost/iterator/filter_iterator.hpp: In instantiation of 'void boost::filter_iterator<Predicate, Iterator>::satisfy_predicate() [with Predicate = boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>; Iterator = int]':
  3250. /usr/include/boost/iterator/filter_iterator.hpp:59:29: required from 'boost::filter_iterator<Predicate, Iterator>::filter_iterator(Predicate, Iterator, Iterator) [with Predicate = boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>; Iterator = int]'
  3251. /usr/include/boost/iterator/filter_iterator.hpp:114:57: required from 'boost::filter_iterator<Predicate, Iterator> boost::make_filter_iterator(Predicate, Iterator, Iterator) [with Predicate = boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>; Iterator = int]'
  3252. /usr/local/include/gtsam/nonlinear/Values-inl.h:140:81: required from 'gtsam::Values::Filtered<ValueType>::Filtered(const boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>&, gtsam::Values&) [with ValueType = gtsam::Value]'
  3253. /usr/local/include/gtsam/nonlinear/Values-inl.h:246:91: required from 'gtsam::Values::Filtered<ValueType> gtsam::Values::filter(const int&) [with ValueType = gtsam::Value]'
  3254. /usr/local/include/gtsam/nonlinear/Values-inl.h:239:35: required from here
  3255. /usr/include/boost/iterator/filter_iterator.hpp:100:68: error: 'class boost::filter_iterator<boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>, int>' has no member named 'base'
  3256. while (this->base() != this->m_end && !this->m_predicate(*this->base()))
  3257. ^
  3258. /usr/include/boost/iterator/filter_iterator.hpp:100:31: error: 'class boost::filter_iterator<boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>, int>' has no member named 'base'
  3259. while (this->base() != this->m_end && !this->m_predicate(*this->base()))
  3260. ^
  3261. /usr/include/boost/iterator/filter_iterator.hpp:101:15: error: 'class boost::filter_iterator<boost::function<bool(const gtsam::Values::ConstKeyValuePair&)>, int>' has no member named 'base_reference'
  3262. ++(this->base_reference());
  3263. ^
  3264. In file included from /root/ws/admm-slam/cpp/src/ADMM.h:15:0,
  3265. from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
  3266. /usr/local/include/gtsam/slam/BetweenFactor.h: In instantiation of 'void gtsam::BetweenFactor<VALUE>::print(const string&, const KeyFormatter&) const [with VALUE = gtsam::Pose2; std::string = std::basic_string<char>; gtsam::KeyFormatter = int]':
  3267. /root/ws/admm-slam/cpp/src/ADMM.cpp:420:1: required from here
  3268. /usr/local/include/gtsam/slam/BetweenFactor.h:76:39: error: 'const class gtsam::BetweenFactor<gtsam::Pose2>' has no member named 'key2'
  3269. << keyFormatter(this->key2()) << ")\n";
  3270. ^
  3271. /usr/local/include/gtsam/slam/BetweenFactor.h:76:39: error: expression cannot be used as a function
  3272. /usr/local/include/gtsam/slam/BetweenFactor.h:75:39: error: 'const class gtsam::BetweenFactor<gtsam::Pose2>' has no member named 'key1'
  3273. << keyFormatter(this->key1()) << ","
  3274. ^
  3275. /usr/local/include/gtsam/slam/BetweenFactor.h:75:39: error: expression cannot be used as a function
  3276. make[2]: *** [CMakeFiles/admm.dir/src/ADMM.cpp.o] Error 1
  3277. make[1]: *** [CMakeFiles/admm.dir/all] Error 2
  3278. make: *** [all] Error 2
  3279. The command '/bin/sh -c cmake .. && make -j8 && make check && make install && ldconfig' returned a non-zero code: 2
  3280. Makefile:13: recipe for target 'build' failed
  3281. make: *** [build] Error 2
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