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Oct 13th, 2017
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  1.  
  2. ____________________________________________________________________________________________________________________________________________________________________________________________________________
  3. Errors     << moveit_planners_ompl:make /home/ljk/robot_exp/moveit_ws/logs/moveit_planners_ompl/build.make.001.log                                                                                          
  4. /home/ljk/robot_exp/moveit_ws/src/moveit/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp: In member function ‘virtual void ompl_interface::ModelBasedPlanningContext::configure()’:
  5. /home/ljk/robot_exp/moveit_ws/src/moveit/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp:199:64: error: no matching function for call to ‘ompl::base::ScopedState<>::ScopedState(ompl_interface::ModelBasedStateSpacePtr&)’
  6.    ompl::base::ScopedState<> ompl_start_state(spec_.state_space_);
  7.                                                                 ^
  8. /home/ljk/robot_exp/moveit_ws/src/moveit/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp:199:64: note: candidates are:
  9. In file included from /usr/local/include/ompl/base/ProblemDefinition.h:48:0,
  10.                  from /usr/local/include/ompl/base/Planner.h:41,
  11.                  from /usr/local/include/ompl/geometric/SimpleSetup.h:40,
  12.                  from /home/ljk/robot_exp/moveit_ws/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h:45,
  13.                  from /home/ljk/robot_exp/moveit_ws/src/moveit/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp:37:
  14. /usr/local/include/ompl/base/ScopedState.h:124:13: note: ompl::base::ScopedState<T>::ScopedState(ompl::base::StateSpacePtr, const ompl::base::State*) [with T = ompl::base::StateSpace; ompl::base::StateSpacePtr = std::shared_ptr<ompl::base::StateSpace>]
  15.              ScopedState(StateSpacePtr space, const State *state) : space_(std::move(space))
  16.              ^
  17. /usr/local/include/ompl/base/ScopedState.h:124:13: note:   candidate expects 2 arguments, 1 provided
  18. /usr/local/include/ompl/base/ScopedState.h:105:13: note: template<class O> ompl::base::ScopedState<T>::ScopedState(const ompl::base::ScopedState<O>&)
  19.              ScopedState(const ScopedState<O> &other)
  20.              ^
  21. /usr/local/include/ompl/base/ScopedState.h:105:13: note:   template argument deduction/substitution failed:
  22. /home/ljk/robot_exp/moveit_ws/src/moveit/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp:199:64: note:   ‘ompl_interface::ModelBasedStateSpacePtr {aka boost::shared_ptr<ompl_interface::ModelBasedStateSpace>}’ is not derived from ‘const ompl::base::ScopedState<T>’
  23.    ompl::base::ScopedState<> ompl_start_state(spec_.state_space_);
  24.                                                                 ^
  25. In file included from /usr/local/include/ompl/base/ProblemDefinition.h:48:0,
  26.                  from /usr/local/include/ompl/base/Planner.h:41,
  27.                  from /usr/local/include/ompl/geometric/SimpleSetup.h:40,
  28.                  from /home/ljk/robot_exp/moveit_ws/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h:45,
  29.                  from /home/ljk/robot_exp/moveit_ws/src/moveit/moveit_planners/ompl/ompl_interface/src/model_based_planning_context.cpp:37:
  30. /usr/local/include/ompl/base/ScopedState.h:96:13: note: ompl::base::ScopedState<T>::ScopedState(const ompl::base::ScopedState<T>&) [with T = ompl::base::StateSpace]
  31.              ScopedState(const ScopedState<T> &other) : space_(other.getSpace())
  32.              ^
  33. /usr/local/include/ompl/base/ScopedState.h:96:13: note:   no known conversion for argument 1 from ‘ompl_interface::ModelBasedStateSpacePtr {aka boost::shared_ptr<ompl_interface::ModelBasedStateSpace>}’ to ‘const ompl::base::ScopedState<>&’
  34. /usr/local/include/ompl/base/ScopedState.h:84:22: note: ompl::base::ScopedState<T>::ScopedState(ompl::base::StateSpacePtr) [with T = ompl::base::StateSpace; ompl::base::StateSpacePtr = std::shared_ptr<ompl::base::StateSpace>]
  35.              explicit ScopedState(StateSpacePtr space) : space_(std::move(space))
  36.                       ^
  37. /usr/local/include/ompl/base/ScopedState.h:84:22: note:   no known conversion for argument 1 from ‘ompl_interface::ModelBasedStateSpacePtr {aka boost::shared_ptr<ompl_interface::ModelBasedStateSpace>}’ to ‘ompl::base::StateSpacePtr {aka std::shared_ptr<ompl::base::StateSpace>}’
  38. /usr/local/include/ompl/base/ScopedState.h:71:22: note: ompl::base::ScopedState<T>::ScopedState(const SpaceInformationPtr&) [with T = ompl::base::StateSpace; ompl::base::SpaceInformationPtr = std::shared_ptr<ompl::base::SpaceInformation>]
  39.              explicit ScopedState(const SpaceInformationPtr &si) : space_(si->getStateSpace())
  40.                       ^
  41. /usr/local/include/ompl/base/ScopedState.h:71:22: note:   no known conversion for argument 1 from ‘ompl_interface::ModelBasedStateSpacePtr {aka boost::shared_ptr<ompl_interface::ModelBasedStateSpace>}’ to ‘const SpaceInformationPtr& {aka const std::shared_ptr<ompl::base::SpaceInformation>&}’
  42. /home/ljk/robot_exp/moveit_ws/src/moveit/moveit_planners/ompl/ompl_interface/src/constraints_library.cpp: In member function ‘ompl::base::StateStoragePtr ompl_interface::ConstraintsLibrary::constructConstraintApproximation(const ModelBasedPlanningContextPtr&, const Constraints&, const Constraints&, const ompl_interface::ConstraintApproximationConstructionOptions&, ompl_interface::ConstraintApproximationConstructionResults&)’:
  43. /home/ljk/robot_exp/moveit_ws/src/moveit/moveit_planners/ompl/ompl_interface/src/constraints_library.cpp:439:116: error: no matching function for call to ‘ompl::base::StateStorageWithMetadata<std::pair<std::vector<long unsigned int>, std::map<long unsigned int, std::pair<long unsigned int, long unsigned int> > > >::StateStorageWithMetadata(const ModelBasedStateSpacePtr&)’
  44.    ConstraintApproximationStateStorage* cass = new ConstraintApproximationStateStorage(pcontext->getOMPLStateSpace());
  45.                                                                                                                     ^
  46. /home/ljk/robot_exp/moveit_ws/src/moveit/moveit_planners/ompl/ompl_interface/src/constraints_library.cpp:439:116: note: candidates are:
  47. In file included from /home/ljk/robot_exp/moveit_ws/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h:48:0,
  48.                  from /home/ljk/robot_exp/moveit_ws/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h:40,
  49.                  from /home/ljk/robot_exp/moveit_ws/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/constraints_library.h:41,
  50.                  from /home/ljk/robot_exp/moveit_ws/src/moveit/moveit_planners/ompl/ompl_interface/src/constraints_library.cpp:37:
  51. /usr/local/include/ompl/base/StateStorage.h:221:13: note: ompl::base::StateStorageWithMetadata<M>::StateStorageWithMetadata(const StateSpacePtr&) [with M = std::pair<std::vector<long unsigned int>, std::map<long unsigned int, std::pair<long unsigned int, long unsigned int> > >; ompl::base::StateSpacePtr = std::shared_ptr<ompl::base::StateSpace>]
  52.              StateStorageWithMetadata(const StateSpacePtr &space) : StateStorage(space)
  53.              ^
  54. /usr/local/include/ompl/base/StateStorage.h:221:13: note:   no known conversion for argument 1 from ‘const ModelBasedStateSpacePtr {aka const boost::shared_ptr<ompl_interface::ModelBasedStateSpace>}’ to ‘const StateSpacePtr& {aka const std::shared_ptr<ompl::base::StateSpace>&}’
  55. /usr/local/include/ompl/base/StateStorage.h:214:15: note: ompl::base::StateStorageWithMetadata<std::pair<std::vector<long unsigned int>, std::map<long unsigned int, std::pair<long unsigned int, long unsigned int> > > >::StateStorageWithMetadata(const ompl::base::StateStorageWithMetadata<std::pair<std::vector<long unsigned int>, std::map<long unsigned int, std::pair<long unsigned int, long unsigned int> > > >&)
  56.          class StateStorageWithMetadata : public StateStorage
  57.                ^
  58. /usr/local/include/ompl/base/StateStorage.h:214:15: note:   no known conversion for argument 1 from ‘const ModelBasedStateSpacePtr {aka const boost::shared_ptr<ompl_interface::ModelBasedStateSpace>}’ to ‘const ompl::base::StateStorageWithMetadata<std::pair<std::vector<long unsigned int>, std::map<long unsigned int, std::pair<long unsigned int, long unsigned int> > > >&’
  59. /usr/local/include/ompl/base/StateStorage.h:214:15: note: ompl::base::StateStorageWithMetadata<std::pair<std::vector<long unsigned int>, std::map<long unsigned int, std::pair<long unsigned int, long unsigned int> > > >::StateStorageWithMetadata(ompl::base::StateStorageWithMetadata<std::pair<std::vector<long unsigned int>, std::map<long unsigned int, std::pair<long unsigned int, long unsigned int> > > >&&)
  60. /usr/local/include/ompl/base/StateStorage.h:214:15: note:   no known conversion for argument 1 from ‘const ModelBasedStateSpacePtr {aka const boost::shared_ptr<ompl_interface::ModelBasedStateSpace>}’ to ‘ompl::base::StateStorageWithMetadata<std::pair<std::vector<long unsigned int>, std::map<long unsigned int, std::pair<long unsigned int, long unsigned int> > > >&&’
  61. /home/ljk/robot_exp/moveit_ws/src/moveit/moveit_planners/ompl/ompl_interface/src/constraints_library.cpp:471:63: error: no matching function for call to ‘ompl::base::ScopedState<>::ScopedState(const ModelBasedStateSpacePtr&)’
  62.    ompl::base::ScopedState<> temp(pcontext->getOMPLStateSpace());
  63.                                                                ^
  64. /home/ljk/robot_exp/moveit_ws/src/moveit/moveit_planners/ompl/ompl_interface/src/constraints_library.cpp:471:63: note: candidates are:
  65. In file included from /usr/local/include/ompl/base/ProblemDefinition.h:48:0,
  66.                  from /usr/local/include/ompl/base/Planner.h:41,
  67.                  from /usr/local/include/ompl/geometric/SimpleSetup.h:40,
  68.                  from /home/ljk/robot_exp/moveit_ws/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h:45,
  69.                  from /home/ljk/robot_exp/moveit_ws/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h:40,
  70.                  from /home/ljk/robot_exp/moveit_ws/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/constraints_library.h:41,
  71.                  from /home/ljk/robot_exp/moveit_ws/src/moveit/moveit_planners/ompl/ompl_interface/src/constraints_library.cpp:37:
  72. /usr/local/include/ompl/base/ScopedState.h:124:13: note: ompl::base::ScopedState<T>::ScopedState(ompl::base::StateSpacePtr, const ompl::base::State*) [with T = ompl::base::StateSpace; ompl::base::StateSpacePtr = std::shared_ptr<ompl::base::StateSpace>]
  73.              ScopedState(StateSpacePtr space, const State *state) : space_(std::move(space))
  74.              ^
  75. /usr/local/include/ompl/base/ScopedState.h:124:13: note:   candidate expects 2 arguments, 1 provided
  76. /usr/local/include/ompl/base/ScopedState.h:105:13: note: template<class O> ompl::base::ScopedState<T>::ScopedState(const ompl::base::ScopedState<O>&)
  77.              ScopedState(const ScopedState<O> &other)
  78.              ^
  79. /usr/local/include/ompl/base/ScopedState.h:105:13: note:   template argument deduction/substitution failed:
  80. /home/ljk/robot_exp/moveit_ws/src/moveit/moveit_planners/ompl/ompl_interface/src/constraints_library.cpp:471:63: note:   ‘const ModelBasedStateSpacePtr {aka const boost::shared_ptr<ompl_interface::ModelBasedStateSpace>}’ is not derived from ‘const ompl::base::ScopedState<T>’
  81.    ompl::base::ScopedState<> temp(pcontext->getOMPLStateSpace());
  82.                                                                ^
  83. In file included from /usr/local/include/ompl/base/ProblemDefinition.h:48:0,
  84.                  from /usr/local/include/ompl/base/Planner.h:41,
  85.                  from /usr/local/include/ompl/geometric/SimpleSetup.h:40,
  86.                  from /home/ljk/robot_exp/moveit_ws/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h:45,
  87.                  from /home/ljk/robot_exp/moveit_ws/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h:40,
  88.                  from /home/ljk/robot_exp/moveit_ws/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/constraints_library.h:41,
  89.                  from /home/ljk/robot_exp/moveit_ws/src/moveit/moveit_planners/ompl/ompl_interface/src/constraints_library.cpp:37:
  90. /usr/local/include/ompl/base/ScopedState.h:96:13: note: ompl::base::ScopedState<T>::ScopedState(const ompl::base::ScopedState<T>&) [with T = ompl::base::StateSpace]
  91.              ScopedState(const ScopedState<T> &other) : space_(other.getSpace())
  92.              ^
  93. /usr/local/include/ompl/base/ScopedState.h:96:13: note:   no known conversion for argument 1 from ‘const ModelBasedStateSpacePtr {aka const boost::shared_ptr<ompl_interface::ModelBasedStateSpace>}’ to ‘const ompl::base::ScopedState<>&’
  94. /usr/local/include/ompl/base/ScopedState.h:84:22: note: ompl::base::ScopedState<T>::ScopedState(ompl::base::StateSpacePtr) [with T = ompl::base::StateSpace; ompl::base::StateSpacePtr = std::shared_ptr<ompl::base::StateSpace>]
  95.              explicit ScopedState(StateSpacePtr space) : space_(std::move(space))
  96.                       ^
  97. /usr/local/include/ompl/base/ScopedState.h:84:22: note:   no known conversion for argument 1 from ‘const ModelBasedStateSpacePtr {aka const boost::shared_ptr<ompl_interface::ModelBasedStateSpace>}’ to ‘ompl::base::StateSpacePtr {aka std::shared_ptr<ompl::base::StateSpace>}’
  98. /usr/local/include/ompl/base/ScopedState.h:71:22: note: ompl::base::ScopedState<T>::ScopedState(const SpaceInformationPtr&) [with T = ompl::base::StateSpace; ompl::base::SpaceInformationPtr = std::shared_ptr<ompl::base::SpaceInformation>]
  99.              explicit ScopedState(const SpaceInformationPtr &si) : space_(si->getStateSpace())
  100.                       ^
  101. /usr/local/include/ompl/base/ScopedState.h:71:22: note:   no known conversion for argument 1 from ‘const ModelBasedStateSpacePtr {aka const boost::shared_ptr<ompl_interface::ModelBasedStateSpace>}’ to ‘const SpaceInformationPtr& {aka const std::shared_ptr<ompl::base::SpaceInformation>&}’
  102. /home/ljk/robot_exp/moveit_ws/src/moveit/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp: In member function ‘ompl_interface::ModelBasedPlanningContextPtr ompl_interface::PlanningContextManager::getPlanningContext(const planning_interface::PlannerConfigurationSettings&, const StateSpaceFactoryTypeSelector&, const MotionPlanRequest&) const’:
  103. /home/ljk/robot_exp/moveit_ws/src/moveit/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp:241:101: error: no matching function for call to ‘ompl::geometric::SimpleSetup::SimpleSetup(ompl_interface::ModelBasedStateSpacePtr&)’
  104.      context_spec.ompl_simple_setup_.reset(new ompl::geometric::SimpleSetup(context_spec.state_space_));
  105.                                                                                                      ^
  106. /home/ljk/robot_exp/moveit_ws/src/moveit/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp:241:101: note: candidates are:
  107. In file included from /home/ljk/robot_exp/moveit_ws/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h:45:0,
  108.                  from /home/ljk/robot_exp/moveit_ws/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/planning_context_manager.h:40,
  109.                  from /home/ljk/robot_exp/moveit_ws/src/moveit/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp:37:
  110. /usr/local/include/ompl/geometric/SimpleSetup.h:70:22: note: ompl::geometric::SimpleSetup::SimpleSetup(const StateSpacePtr&)
  111.              explicit SimpleSetup(const base::StateSpacePtr &space);
  112.                       ^
  113. /usr/local/include/ompl/geometric/SimpleSetup.h:70:22: note:   no known conversion for argument 1 from ‘ompl_interface::ModelBasedStateSpacePtr {aka boost::shared_ptr<ompl_interface::ModelBasedStateSpace>}’ to ‘const StateSpacePtr& {aka const std::shared_ptr<ompl::base::StateSpace>&}’
  114. /usr/local/include/ompl/geometric/SimpleSetup.h:67:22: note: ompl::geometric::SimpleSetup::SimpleSetup(const SpaceInformationPtr&)
  115.              explicit SimpleSetup(const base::SpaceInformationPtr &si);
  116.                       ^
  117. /usr/local/include/ompl/geometric/SimpleSetup.h:67:22: note:   no known conversion for argument 1 from ‘ompl_interface::ModelBasedStateSpacePtr {aka boost::shared_ptr<ompl_interface::ModelBasedStateSpace>}’ to ‘const SpaceInformationPtr& {aka const std::shared_ptr<ompl::base::SpaceInformation>&}’
  118. /usr/local/include/ompl/geometric/SimpleSetup.h:63:15: note: ompl::geometric::SimpleSetup::SimpleSetup(const ompl::geometric::SimpleSetup&)
  119.          class SimpleSetup
  120.                ^
  121. /usr/local/include/ompl/geometric/SimpleSetup.h:63:15: note:   no known conversion for argument 1 from ‘ompl_interface::ModelBasedStateSpacePtr {aka boost::shared_ptr<ompl_interface::ModelBasedStateSpace>}’ to ‘const ompl::geometric::SimpleSetup&’
  122. make[2]: *** [ompl_interface/CMakeFiles/moveit_ompl_interface.dir/src/model_based_planning_context.cpp.o] Error 1
  123. make[2]: *** Waiting for unfinished jobs....
  124. make[2]: *** [ompl_interface/CMakeFiles/moveit_ompl_interface.dir/src/constraints_library.cpp.o] Error 1
  125. make[2]: *** [ompl_interface/CMakeFiles/moveit_ompl_interface.dir/src/planning_context_manager.cpp.o] Error 1
  126. make[1]: *** [ompl_interface/CMakeFiles/moveit_ompl_interface.dir/all] Error 2
  127. make: *** [all] Error 2
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