make check error with newest GTSAM

[dlee640]

Hello.

I have 18.04 Linux with newest version of GTSAM (4.1) installed.

My cmake had couple warnings, but still executed without problem:

dlee640@dlee640-T580:~/gpmp2/build$ cmake ..
-- Boost version: 1.65.1
-- Found the following Boost libraries:
--   serialization
--   system
--   filesystem
--   thread
--   program_options
--   date_time
--   timer
--   chrono
--   regex
--   atomic
-- GTSAM include directory:  /usr/local/lib/cmake/GTSAM/../../../include
CMake Warning (dev) in /usr/local/lib/cmake/GTSAMCMakeTools/GtsamBuildTypes.cmake:
  Policy CMP0011 is not set: Included scripts do automatic cmake_policy PUSH
  and POP.  Run "cmake --help-policy CMP0011" for policy details.  Use the
  cmake_policy command to set the policy and suppress this warning.

  The included script

    /usr/local/lib/cmake/GTSAMCMakeTools/GtsamBuildTypes.cmake

  affects policy settings.  CMake is implying the NO_POLICY_SCOPE option for
  compatibility, so the effects are applied to the including context.
Call Stack (most recent call first):
  CMakeLists.txt:34 (include)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Boost version: 1.65.1
-- Boost version: 1.65.1
-- Found the following Boost libraries:
--   filesystem
--   system
-- Boost version: 1.65.1
-- Found the following Boost libraries:
--   system
-- Boost version: 1.65.1
-- Found the following Boost libraries:
--   thread
--   chrono
--   system
--   date_time
--   atomic
-- Boost version: 1.65.1
-- Found the following Boost libraries:
--   serialization
-- Building Module: geometry
-- Building Module: gp
-- Building Module: kinematics
-- Building Module: dynamics
-- Building Module: obstacle
-- Building Module: planner
-- Building Module: utils
-- GPMP2 Version: 0.2.0
-- Install prefix: /usr/local
-- Build shared library
-- Wrote /home/dlee640/gpmp2/build/gpmp2Config.cmake
-- Configuring done
-- Generating done
-- Build files have been written to: /home/dlee640/gpmp2/build

However, my make check returns this error:

dlee640@dlee640-T580:~/gpmp2/build$ make check
[  1%] Building CXX object gpmp2/CMakeFiles/gpmp2.dir/kinematics/Arm.cpp.o
In file included from /home/dlee640/gpmp2/gpmp2/kinematics/ForwardKinematics.h:83:0,
                 from /home/dlee640/gpmp2/gpmp2/kinematics/Arm.h:10,
                 from /home/dlee640/gpmp2/gpmp2/kinematics/Arm.cpp:8:
/home/dlee640/gpmp2/gpmp2/kinematics/ForwardKinematics-inl.h: In member function ‘gtsam::Matrix gpmp2::ForwardKinematics<POSE, VELOCITY>::forwardKinematicsPose(const Pose&) const’:
/home/dlee640/gpmp2/gpmp2/kinematics/ForwardKinematics-inl.h:25:30: error: ‘const Point3 {aka const class Eigen::Matrix<double, 3, 1>}’ has no member named ‘vector’
         jpx[i].translation().vector()).finished();
                              ^~~~~~
/home/dlee640/gpmp2/gpmp2/kinematics/ForwardKinematics-inl.h: In member function ‘gtsam::Matrix gpmp2::ForwardKinematics<POSE, VELOCITY>::forwardKinematicsPosition(const Pose&) const’:
/home/dlee640/gpmp2/gpmp2/kinematics/ForwardKinematics-inl.h:39:43: error: ‘const Point3 {aka const class Eigen::Matrix<double, 3, 1>}’ has no member named ‘vector’
     jpx_mat.col(i) = jpx[i].translation().vector();
                                           ^~~~~~
gpmp2/CMakeFiles/gpmp2.dir/build.make:86: recipe for target 'gpmp2/CMakeFiles/gpmp2.dir/kinematics/Arm.cpp.o' failed
make[3]: *** [gpmp2/CMakeFiles/gpmp2.dir/kinematics/Arm.cpp.o] Error 1
CMakeFiles/Makefile2:370: recipe for target 'gpmp2/CMakeFiles/gpmp2.dir/all' failed
make[2]: *** [gpmp2/CMakeFiles/gpmp2.dir/all] Error 2
CMakeFiles/Makefile2:275: recipe for target 'CMakeFiles/check.dir/rule' failed
make[1]: *** [CMakeFiles/check.dir/rule] Error 2
Makefile:214: recipe for target 'check' failed
make: *** [check] Error 2

[dlee640]

Installed 4.0.3 instead and now getting different error instead. Will update on other thread. Guys! 4.1 the newest gtsam seem to be having issue with this.

[Wil Thomason]

@dlee640 Were you able to resolve this issue? I am also having difficulty building gpmp2 against GTSAM 4.1.1.

[Feiyu Xiao]

@dlee640 Were you able to resolve this issue? I am also having difficulty building gpmp2 against GTSAM 4.1.1.

Same request. I am also having difficulty building gpmp2 against GTSAM 4.1.0

[wujiajun]

I also meet this problem in this morning. GPMP2 couldn't find the boost...