catkin_make 报错

[1053702092]

In file included from /home/jetson/fast-planner/src/Fast-Planner/fast_planner/bspline/src/non_uniform_bspline.cpp:26:0:
/home/jetson/fast-planner/src/Fast-Planner/fast_planner/bspline/include/bspline/non_uniform_bspline.h:81:61: error: ‘vector’ does not name a type; did you mean ‘perror’?
static void parameterizeToBspline(const double& ts, const vectorEigen::Vector3d& point_set,
^~~~~~
perror
/home/jetson/fast-planner/src/Fast-Planner/fast_planner/bspline/include/bspline/non_uniform_bspline.h:81:67: error: expected ‘,’ or ‘...’ before ‘<’ token
static void parameterizeToBspline(const double& ts, const vectorEigen::Vector3d& point_set,
^
/home/jetson/fast-planner/src/Fast-Planner/fast_planner/bspline/src/non_uniform_bspline.cpp: In member function ‘bool fast_planner::NonUniformBspline::checkFeasibility(bool)’:
/home/jetson/fast-planner/src/Fast-Planner/fast_planner/bspline/src/non_uniform_bspline.cpp:186:10: warning: unused variable ‘ratio’ [-Wunused-variable]
double ratio = max(max_vel / limit_vel_, sqrt(fabs(max_acc) / limit_acc_));
^~~~~
/home/jetson/fast-planner/src/Fast-Planner/fast_planner/bspline/src/non_uniform_bspline.cpp: At global scope:
/home/jetson/fast-planner/src/Fast-Planner/fast_planner/bspline/src/non_uniform_bspline.cpp:335:6: error: prototype for ‘void fast_planner::NonUniformBspline::parameterizeToBspline(const double&, const std::vector<Eigen::Matrix<double, 3, 1> >&, const std::vector<Eigen::Matrix<double, 3, 1> >&, Eigen::MatrixXd&)’ does not match any in class ‘fast_planner::NonUniformBspline’
void NonUniformBspline::parameterizeToBspline(const double& ts, const vectorEigen::Vector3d& point_set,
^~~~~~~~~~~~~~~~~
In file included from /home/jetson/fast-planner/src/Fast-Planner/fast_planner/bspline/src/non_uniform_bspline.cpp:26:0:
/home/jetson/fast-planner/src/Fast-Planner/fast_planner/bspline/include/bspline/non_uniform_bspline.h:81:15: error: candidate is: static void fast_planner::NonUniformBspline::parameterizeToBspline(const double&, int)
static void parameterizeToBspline(const double& ts, const vectorEigen::Vector3d& point_set,
^~~~~~~~~~~~~~~~~~~~~
Fast-Planner/fast_planner/bspline/CMakeFiles/bspline.dir/build.make:75: recipe for target 'Fast-Planner/fast_planner/bspline/CMakeFiles/bspline.dir/src/non_uniform_bspline.cpp.o' failed
make[2]: *** [Fast-Planner/fast_planner/bspline/CMakeFiles/bspline.dir/src/non_uniform_bspline.cpp.o] Error 1
CMakeFiles/Makefile2:2897: recipe for target 'Fast-Planner/fast_planner/bspline/CMakeFiles/bspline.dir/all' failed
make[1]: *** [Fast-Planner/fast_planner/bspline/CMakeFiles/bspline.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
/home/jetson/fast-planner/src/Fast-Planner/fast_planner/path_searching/src/astar.cpp: In member function ‘int fast_planner::Astar::search(Eigen::Vector3d, Eigen::Vector3d, bool, double)’:
/home/jetson/fast-planner/src/Fast-Planner/fast_planner/path_searching/src/astar.cpp:153:18: warning: unused variable ‘time_to_goal’ [-Wunused-variable]
double time_to_goal, tmp_g_score, tmp_f_score;
^~~~~~~~~~~~
/home/jetson/fast-planner/src/Fast-Planner/fast_planner/path_searching/src/astar.cpp:49:10: warning: unused variable ‘time_to_goal’ [-Wunused-variable]
double time_to_goal;
^~~~~~~~~~~~
/home/jetson/fast-planner/src/Fast-Planner/fast_planner/path_searching/src/astar.cpp:67:11: warning: unused variable ‘neighbor’ [-Wunused-variable]
NodePtr neighbor = NULL;
^~~~~~~~
/home/jetson/fast-planner/src/Fast-Planner/fast_planner/path_searching/src/astar.cpp: In member function ‘std::vector<Eigen::Matrix<double, 3, 1> > fast_planner::Astar::getPath()’:
/home/jetson/fast-planner/src/Fast-Planner/fast_planner/path_searching/src/astar.cpp:230:21: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
for (int i = 0; i < path_nodes_.size(); ++i) {
^~~~~~~~~~~~~~~~~~~~
/home/jetson/fast-planner/src/Fast-Planner/fast_planner/path_searching/src/astar.cpp: In member function ‘Eigen::Vector3i fast_planner::Astar::posToIndex(Eigen::Vector3d)’:
/home/jetson/fast-planner/src/Fast-Planner/fast_planner/path_searching/src/astar.cpp:318:61: error: ‘const class Eigen::ArrayWrapper<const Eigen::CwiseUnaryOp<Eigen::internal::scalar_multiple_op, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_difference_op, const Eigen::Matrix<double, 3, 1>, const Eigen::Matrix<double, 3, 1> > > >’ has no member named ‘floor’
Vector3i idx = ((pt - origin_) * inv_resolution_).array().floor().cast();
^~~~~
/home/jetson/fast-planner/src/Fast-Planner/fast_planner/path_searching/src/astar.cpp:318:74: error: expected primary-expression before ‘int’
Vector3i idx = ((pt - origin_) * inv_resolution_).array().floor().cast();
^
/home/jetson/fast-planner/src/Fast-Planner/fast_planner/path_searching/src/astar.cpp: In member function ‘int fast_planner::Astar::timeToIndex(double)’:
/home/jetson/fast-planner/src/Fast-Planner/fast_planner/path_searching/src/astar.cpp:328:7: warning: unused variable ‘idx’ [-Wunused-variable]
int idx = floor((time - time_origin_) * inv_time_resolution_);
^~~
/home/jetson/fast-planner/src/Fast-Planner/fast_planner/path_searching/src/astar.cpp:329:1: warning: no return statement in function returning non-void [-Wreturn-type]
}
^
/home/jetson/fast-planner/src/Fast-Planner/fast_planner/path_searching/src/kinodynamic_astar.cpp: In member function ‘int fast_planner::KinodynamicAstar::search(Eigen::Vector3d, Eigen::Vector3d, Eigen::Vector3d, Eigen::Vector3d, Eigen::Vector3d, bool, bool, double)’:
/home/jetson/fast-planner/src/Fast-Planner/fast_planner/path_searching/src/kinodynamic_astar.cpp:171:23: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
for (int i = 0; i < inputs.size(); ++i)
~~^~~~~~~~~~~~~~~
/home/jetson/fast-planner/src/Fast-Planner/fast_planner/path_searching/src/kinodynamic_astar.cpp:172:25: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
for (int j = 0; j < durations.size(); ++j)
^~~~~~~~~~~~~~~~~~
/home/jetson/fast-planner/src/Fast-Planner/fast_planner/path_searching/src/kinodynamic_astar.cpp:239:27: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
for (int j = 0; j < tmp_expand_nodes.size(); ++j)
^~~~~~~~~~~~~~~~~~~~~~~~~
/home/jetson/fast-planner/src/Fast-Planner/fast_planner/path_searching/src/kinodynamic_astar.cpp:77:15: warning: unused variable ‘neighbor’ [-Wunused-variable]
PathNodePtr neighbor = NULL;
^~~~~~~~
/home/jetson/fast-planner/src/Fast-Planner/fast_planner/path_searching/src/kinodynamic_astar.cpp: In member function ‘Eigen::Vector3i fast_planner::KinodynamicAstar::posToIndex(Eigen::Vector3d)’:
/home/jetson/fast-planner/src/Fast-Planner/fast_planner/path_searching/src/kinodynamic_astar.cpp:756:61: error: ‘const class Eigen::ArrayWrapper<const Eigen::CwiseUnaryOp<Eigen::internal::scalar_multiple_op, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_difference_op, const Eigen::Matrix<double, 3, 1>, const Eigen::Matrix<double, 3, 1> > > >’ has no member named ‘floor’
Vector3i idx = ((pt - origin_) * inv_resolution_).array().floor().cast();
^~~~~
/home/jetson/fast-planner/src/Fast-Planner/fast_planner/path_searching/src/kinodynamic_astar.cpp:756:74: error: expected primary-expression before ‘int’
Vector3i idx = ((pt - origin_) * inv_resolution_).array().floor().cast();
^
/home/jetson/fast-planner/src/Fast-Planner/fast_planner/path_searching/src/kinodynamic_astar.cpp: In member function ‘int fast_planner::KinodynamicAstar::timeToIndex(double)’:
/home/jetson/fast-planner/src/Fast-Planner/fast_planner/path_searching/src/kinodynamic_astar.cpp:767:7: warning: unused variable ‘idx’ [-Wunused-variable]
int idx = floor((time - time_origin_) * inv_time_resolution_);
^
/home/jetson/fast-planner/src/Fast-Planner/fast_planner/path_searching/src/kinodynamic_astar.cpp:768:1: warning: no return statement in function returning non-void [-Wreturn-type]
}
^
Fast-Planner/fast_planner/path_searching/CMakeFiles/path_searching.dir/build.make:89: recipe for target 'Fast-Planner/fast_planner/path_searching/CMakeFiles/path_searching.dir/src/astar.cpp.o' failed
make[2]: *** [Fast-Planner/fast_planner/path_searching/CMakeFiles/path_searching.dir/src/astar.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
Fast-Planner/fast_planner/path_searching/CMakeFiles/path_searching.dir/build.make:75: recipe for target 'Fast-Planner/fast_planner/path_searching/CMakeFiles/path_searching.dir/src/kinodynamic_astar.cpp.o' failed
make[2]: *** [Fast-Planner/fast_planner/path_searching/CMakeFiles/path_searching.dir/src/kinodynamic_astar.cpp.o] Error 1
CMakeFiles/Makefile2:2975: recipe for target 'Fast-Planner/fast_planner/path_searching/CMakeFiles/path_searching.dir/all' failed
make[1]: *** [Fast-Planner/fast_planner/path_searching/CMakeFiles/path_searching.dir/all] Error 2
Makefile:145: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j8 -l8" failed

[frankwang98]

ubuntu20 catkin_make会报错