When I try to make it, the following error is reported: #2
Description
Scanning dependencies of target GraphicalStateSpaceModel
[ 25%] Building CXX object CMakeFiles/GraphicalStateSpaceModel.dir/main.cpp.o
[ 50%] Building CXX object CMakeFiles/GraphicalStateSpaceModel.dir/gssmradarmodel.cpp.o
In file included from /home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/gssmradarmodel.cpp:7:
/home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/kfpre.h:40:7: error: ‘boost::optional’ has not been declared
40 | boost::optional<Matrix&> H1 = boost::none,
| ^~~~~
/home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/kfpre.h:40:22: error: expected ‘,’ or ‘...’ before ‘<’ token
40 | boost::optional<Matrix&> H1 = boost::none,
| ^
/home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/kfpre.h: In member function ‘virtual gtsam::NonlinearFactor::shared_ptr gtsam::KFPreFactor::clone() const’:
/home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/kfpre.h:36:19: error: ‘static_pointer_cast’ is not a member of ‘boost’; did you mean ‘std::static_pointer_cast’?
36 | return boost::static_pointer_castgtsam::NonlinearFactor(
| ^~~~~~~~~~~~~~~~~~~
In file included from /usr/include/c++/10/memory:84,
from /usr/include/tbb/tbb_stddef.h:452,
from /usr/include/tbb/scalable_allocator.h:204,
from /usr/local/include/gtsam/base/types.h:31,
from /usr/local/include/gtsam/global_includes.h:22,
from /usr/local/include/gtsam/base/Vector.h:28,
from /usr/local/include/gtsam/base/Matrix.h:28,
from /usr/local/include/gtsam/base/Manifold.h:22,
from /usr/local/include/gtsam/base/Lie.h:26,
from /usr/local/include/gtsam/base/VectorSpace.h:11,
from /usr/local/include/gtsam/geometry/Point2.h:20,
from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:24,
from /home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/gssmradarmodel.h:3,
from /home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/gssmradarmodel.cpp:1:
/usr/include/c++/10/bits/shared_ptr.h:581:5: note: ‘std::static_pointer_cast’ declared here
581 | static_pointer_cast(const shared_ptr<Up>& r) noexcept
| ^~~~~~~~~~~~~~~~~~~
In file included from /home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/gssmradarmodel.cpp:7:
/home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/kfpre.h:36:61: error: expected primary-expression before ‘>’ token
36 | return boost::static_pointer_castgtsam::NonlinearFactor(
| ^
/home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/kfpre.h:37:65: error: invalid new-expression of abstract class type ‘gtsam::KFPreFactor’
37 | gtsam::NonlinearFactor::shared_ptr(new KFPreFactor(*this))); }
| ^
/home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/kfpre.h:12:11: note: because the following virtual functions are pure within ‘gtsam::KFPreFactor’:
12 | class KFPreFactor : public NoiseModelFactor3<Vector1, Vector1, Vector1>
| ^~~~~~~~~~~
In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:25,
from /home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/gssmradarmodel.h:3,
from /home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/gssmradarmodel.cpp:1:
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:639:18: note: ‘gtsam::Vector gtsam::NoiseModelFactorN::evaluateError(const ValueTypes& ..., gtsam::NoiseModelFactorN::OptionalMatrixTypeT...) const [with ValueTypes = {Eigen::Matrix<double, 1, 1, 0, 1, 1>, Eigen::Matrix<double, 1, 1, 0, 1, 1>, Eigen::Matrix<double, 1, 1, 0, 1, 1>}; gtsam::Vector = Eigen::Matrix<double, -1, 1>]’
639 | virtual Vector evaluateError(const ValueTypes&... x,
| ^~~~~~~~~~~~~
In file included from /home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/gssmradarmodel.cpp:7:
/home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/kfpre.h: In member function ‘gtsam::Vector gtsam::KFPreFactor::evaluateError(const Vector1&, const Vector1&, const Vector1&, int) const’:
/home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/kfpre.h:45:9: error: ‘H1’ was not declared in this scope; did you mean ‘X1’?
45 | if (H1) *H1 = -Matrix::Identity(p,p);
| ^~
| X1
/home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/kfpre.h:46:9: error: ‘H2’ was not declared in this scope; did you mean ‘X2’?
46 | if (H2) *H2 = Matrix::Identity(p,p);
| ^~
| X2
/home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/kfpre.h:47:9: error: ‘H3’ was not declared in this scope; did you mean ‘X3’?
47 | if (H3) H3 = Matrix::Identity(p,p)(-SampleT);
| ^~
| X3
In file included from /home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/gssmradarmodel.cpp:8:
/home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/radarmeasure.h: At global scope:
/home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/radarmeasure.h:35:7: error: ‘boost::optional’ has not been declared
35 | boost::optional<Matrix&> H1 = boost::none,
| ^~~~~
/home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/radarmeasure.h:35:22: error: expected ‘,’ or ‘...’ before ‘<’ token
35 | boost::optional<Matrix&> H1 = boost::none,
| ^
/home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/radarmeasure.h: In member function ‘virtual gtsam::NonlinearFactor::shared_ptr gtsam::RadarMeasureFactor::clone() const’:
/home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/radarmeasure.h:31:19: error: ‘static_pointer_cast’ is not a member of ‘boost’; did you mean ‘std::static_pointer_cast’?
31 | return boost::static_pointer_castgtsam::NonlinearFactor(
| ^~~~~~~~~~~~~~~~~~~
In file included from /usr/include/c++/10/memory:84,
from /usr/include/tbb/tbb_stddef.h:452,
from /usr/include/tbb/scalable_allocator.h:204,
from /usr/local/include/gtsam/base/types.h:31,
from /usr/local/include/gtsam/global_includes.h:22,
from /usr/local/include/gtsam/base/Vector.h:28,
from /usr/local/include/gtsam/base/Matrix.h:28,
from /usr/local/include/gtsam/base/Manifold.h:22,
from /usr/local/include/gtsam/base/Lie.h:26,
from /usr/local/include/gtsam/base/VectorSpace.h:11,
from /usr/local/include/gtsam/geometry/Point2.h:20,
from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:24,
from /home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/gssmradarmodel.h:3,
from /home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/gssmradarmodel.cpp:1:
/usr/include/c++/10/bits/shared_ptr.h:581:5: note: ‘std::static_pointer_cast’ declared here
581 | static_pointer_cast(const shared_ptr<Up>& r) noexcept
| ^~~~~~~~~~~~~~~~~~~
In file included from /home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/gssmradarmodel.cpp:8:
/home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/radarmeasure.h:31:61: error: expected primary-expression before ‘>’ token
31 | return boost::static_pointer_castgtsam::NonlinearFactor(
| ^
/home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/radarmeasure.h:32:72: error: invalid new-expression of abstract class type ‘gtsam::RadarMeasureFactor’
32 | gtsam::NonlinearFactor::shared_ptr(new RadarMeasureFactor(*this))); }
| ^
/home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/radarmeasure.h:9:11: note: because the following virtual functions are pure within ‘gtsam::RadarMeasureFactor’:
9 | class RadarMeasureFactor : public NoiseModelFactor2<Vector1, Vector1>
| ^~~~~~~~~~~~~~~~~~
In file included from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:25,
from /home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/gssmradarmodel.h:3,
from /home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/gssmradarmodel.cpp:1:
/usr/local/include/gtsam/nonlinear/NonlinearFactor.h:639:18: note: ‘gtsam::Vector gtsam::NoiseModelFactorN::evaluateError(const ValueTypes& ..., gtsam::NoiseModelFactorN::OptionalMatrixTypeT...) const [with ValueTypes = {Eigen::Matrix<double, 1, 1, 0, 1, 1>, Eigen::Matrix<double, 1, 1, 0, 1, 1>}; gtsam::Vector = Eigen::Matrix<double, -1, 1>]’
639 | virtual Vector evaluateError(const ValueTypes&... x,
| ^~~~~~~~~~~~~
In file included from /home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/gssmradarmodel.cpp:8:
/home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/radarmeasure.h: In member function ‘gtsam::Vector gtsam::RadarMeasureFactor::evaluateError(const Vector1&, const Vector1&, int) const’:
/home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/radarmeasure.h:39:9: error: ‘H1’ was not declared in this scope; did you mean ‘X1’?
39 | if (H1)
| ^~
| X1
/home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/radarmeasure.h:43:8: error: ‘H2’ was not declared in this scope; did you mean ‘X2’?
43 | if(H2)
| ^~
| X2
/home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/gssmradarmodel.cpp: In function ‘void gtsam::Update_Radar_window_Factors()’:
/home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/gssmradarmodel.cpp:137:12: error: ‘shared_ptr’ is not a member of ‘boost’; did you mean ‘std::shared_ptr’?
137 | boost::shared_ptr graph=OptimizeFactors.linearize(RADARvalues);
| ^~~~~~~~~~
In file included from /usr/include/c++/10/bits/shared_ptr.h:52,
from /usr/include/c++/10/memory:84,
from /usr/include/tbb/tbb_stddef.h:452,
from /usr/include/tbb/scalable_allocator.h:204,
from /usr/local/include/gtsam/base/types.h:31,
from /usr/local/include/gtsam/global_includes.h:22,
from /usr/local/include/gtsam/base/Vector.h:28,
from /usr/local/include/gtsam/base/Matrix.h:28,
from /usr/local/include/gtsam/base/Manifold.h:22,
from /usr/local/include/gtsam/base/Lie.h:26,
from /usr/local/include/gtsam/base/VectorSpace.h:11,
from /usr/local/include/gtsam/geometry/Point2.h:20,
from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:24,
from /home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/gssmradarmodel.h:3,
from /home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/gssmradarmodel.cpp:1:
/usr/include/c++/10/bits/shared_ptr_base.h:351:11: note: ‘std::shared_ptr’ declared here
351 | class shared_ptr;
| ^~~~~~~~~~
/home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/gssmradarmodel.cpp:137:42: error: expected primary-expression before ‘>’ token
137 | boost::shared_ptr graph=OptimizeFactors.linearize(RADARvalues);
| ^
/home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/gssmradarmodel.cpp:137:44: error: ‘graph’ was not declared in this scope; did you mean ‘isgraph_l’?
137 | boost::shared_ptr graph=OptimizeFactors.linearize(RADARvalues);
| ^~~~~~
| isgraph_l
/home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/gssmradarmodel.cpp:138:12: error: ‘shared_ptr’ is not a member of ‘boost’; did you mean ‘std::shared_ptr’?
138 | boost::shared_ptr bayesTree=
| ^~~~~~~~~~
In file included from /usr/include/c++/10/bits/shared_ptr.h:52,
from /usr/include/c++/10/memory:84,
from /usr/include/tbb/tbb_stddef.h:452,
from /usr/include/tbb/scalable_allocator.h:204,
from /usr/local/include/gtsam/base/types.h:31,
from /usr/local/include/gtsam/global_includes.h:22,
from /usr/local/include/gtsam/base/Vector.h:28,
from /usr/local/include/gtsam/base/Matrix.h:28,
from /usr/local/include/gtsam/base/Manifold.h:22,
from /usr/local/include/gtsam/base/Lie.h:26,
from /usr/local/include/gtsam/base/VectorSpace.h:11,
from /usr/local/include/gtsam/geometry/Point2.h:20,
from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:24,
from /home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/gssmradarmodel.h:3,
from /home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/gssmradarmodel.cpp:1:
/usr/include/c++/10/bits/shared_ptr_base.h:351:11: note: ‘std::shared_ptr’ declared here
351 | class shared_ptr;
| ^~~~~~~~~~
/home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/gssmradarmodel.cpp:138:40: error: expected primary-expression before ‘>’ token
138 | boost::shared_ptr bayesTree_=
| ^
/home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/gssmradarmodel.cpp:138:42: error: ‘bayesTree_’ was not declared in this scope; did you mean ‘BayesTree’?
138 | boost::shared_ptr bayesTree_=
| ^~~~~~~~~~
| BayesTree
/home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/gssmradarmodel.cpp:139:42: error: ‘none’ is not a member of ‘boost’
139 | graph_->eliminateMultifrontal(boost::none, EliminatePreferCholesky);
| ^~~~
In file included from /usr/include/x86_64-linux-gnu/c++/10/bits/c++allocator.h:33,
from /usr/include/c++/10/bits/allocator.h:46,
from /usr/include/c++/10/unordered_map:40,
from /usr/include/c++/10/functional:61,
from /usr/local/include/gtsam/base/OptionalJacobian.h:22,
from /usr/local/include/gtsam/base/Matrix.h:27,
from /usr/local/include/gtsam/base/Manifold.h:22,
from /usr/local/include/gtsam/base/Lie.h:26,
from /usr/local/include/gtsam/base/VectorSpace.h:11,
from /usr/local/include/gtsam/geometry/Point2.h:20,
from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:24,
from /home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/gssmradarmodel.h:3,
from /home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/gssmradarmodel.cpp:1:
/usr/include/c++/10/ext/new_allocator.h: In instantiation of ‘void __gnu_cxx::new_allocator<_Tp>::construct(_Up*, _Args&& ...) [with _Up = gtsam::KFPreFactor; _Args = {int, int&, int&, double, std::shared_ptrgtsam::noiseModel::Diagonal&}; _Tp = gtsam::KFPreFactor]’:
/usr/include/c++/10/bits/alloc_traits.h:247:17: required from ‘static constexpr std::_Require<typename std::allocator_traits< >::__construct_helper<_Tp, _Args>::type> std::allocator_traits< >::_S_construct(_Alloc&, _Tp*, _Args&& ...) [with _Tp = gtsam::KFPreFactor; _Args = {int, int&, int&, double, std::shared_ptrgtsam::noiseModel::Diagonal&}; _Alloc = Eigen::aligned_allocatorgtsam::KFPreFactor; std::_Require<typename std::allocator_traits< >::__construct_helper<_Tp, _Args>::type> = void; typename std::allocator_traits< >::__construct_helper<_Tp, _Args>::type = std::integral_constant<bool, true>]’
/usr/include/c++/10/bits/alloc_traits.h:360:16: required from ‘static decltype (std::allocator_traits< >::_S_construct(__a, __p, (forward<_Args>)(std::allocator_traits< >::construct::__args)...)) std::allocator_traits< >::construct(_Alloc&, _Tp*, _Args&& ...) [with _Tp = gtsam::KFPreFactor; _Args = {int, int&, int&, double, std::shared_ptrgtsam::noiseModel::Diagonal&}; _Alloc = Eigen::aligned_allocatorgtsam::KFPreFactor; decltype (std::allocator_traits< >::_S_construct(__a, __p, (forward<_Args>)(std::allocator_traits< >::construct::__args)...)) = void]’
/usr/include/c++/10/bits/shared_ptr_base.h:551:39: required from ‘std::_Sp_counted_ptr_inplace<_Tp, _Alloc, _Lp>::_Sp_counted_ptr_inplace(_Alloc, _Args&& ...) [with _Args = {int, int&, int&, double, std::shared_ptrgtsam::noiseModel::Diagonal&}; _Tp = gtsam::KFPreFactor; _Alloc = Eigen::aligned_allocatorgtsam::KFPreFactor; __gnu_cxx::_Lock_policy _Lp = __gnu_cxx::_S_atomic]’
/usr/include/c++/10/bits/shared_ptr_base.h:682:16: required from ‘std::__shared_count<_Lp>::__shared_count(_Tp*&, std::_Sp_alloc_shared_tag<_Alloc>, _Args&& ...) [with _Tp = gtsam::KFPreFactor; _Alloc = Eigen::aligned_allocatorgtsam::KFPreFactor; _Args = {int, int&, int&, double, std::shared_ptrgtsam::noiseModel::Diagonal&}; __gnu_cxx::_Lock_policy _Lp = __gnu_cxx::_S_atomic]’
/usr/include/c++/10/bits/shared_ptr_base.h:1376:71: required from ‘std::__shared_ptr<_Tp, _Lp>::__shared_ptr(std::_Sp_alloc_shared_tag<_Tp>, _Args&& ...) [with _Alloc = Eigen::aligned_allocatorgtsam::KFPreFactor; _Args = {int, int&, int&, double, std::shared_ptrgtsam::noiseModel::Diagonal&}; _Tp = gtsam::KFPreFactor; __gnu_cxx::_Lock_policy _Lp = __gnu_cxx::_S_atomic]’
/usr/include/c++/10/bits/shared_ptr.h:408:59: required from ‘std::shared_ptr<_Tp>::shared_ptr(std::_Sp_alloc_shared_tag<_Tp>, _Args&& ...) [with _Alloc = Eigen::aligned_allocatorgtsam::KFPreFactor; _Args = {int, int&, int&, double, std::shared_ptrgtsam::noiseModel::Diagonal&}; _Tp = gtsam::KFPreFactor]’
/usr/include/c++/10/bits/shared_ptr.h:861:14: required from ‘std::shared_ptr<_Tp> std::allocate_shared(const _Alloc&, _Args&& ...) [with _Tp = gtsam::KFPreFactor; _Alloc = Eigen::aligned_allocatorgtsam::KFPreFactor; _Args = {int, int&, int&, double, std::shared_ptrgtsam::noiseModel::Diagonal&}]’
/usr/local/include/gtsam/inference/FactorGraph.h:154:59: required from ‘gtsam::FactorGraph::IsDerived gtsam::FactorGraph::emplace_shared(Args&& ...) [with DERIVEDFACTOR = gtsam::KFPreFactor; Args = {int, int&, int&, double, std::shared_ptrgtsam::noiseModel::Diagonal&}; FACTOR = gtsam::NonlinearFactor; gtsam::FactorGraph::IsDerived = void]’
/home/civil/Documents/VsCode/GraphicalStateSpaceModel/src/gssmradarmodel.cpp:218:37: required from here
/usr/include/c++/10/ext/new_allocator.h:156:4: error: invalid new-expression of abstract class type ‘gtsam::KFPreFactor’
156 | { ::new((void *)__p) _Up(std::forward<_Args>(__args)...); }
| ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
make[2]: *** [CMakeFiles/GraphicalStateSpaceModel.dir/build.make:76: CMakeFiles/GraphicalStateSpaceModel.dir/gssmradarmodel.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:76: CMakeFiles/GraphicalStateSpaceModel.dir/all] Error 2
make: *** [Makefile:84: all] Error 2