Compilation Issues Related to the Collision Module

[uestccaixukun]

/opt/ros/humble/include/pinocchio/collision/collision.hpp:35:5: error: ‘pinocchio::fcl::CollisionRequest’ has not been declared
   35 |     fcl::CollisionRequest & collision_request);
      |     ^~~
In file included from /opt/ros/humble/include/pinocchio/collision/collision.hxx:13,
                 from /opt/ros/humble/include/pinocchio/collision/collision.hpp:119:
/opt/ros/humble/include/pinocchio/collision/distance.hpp:82:8: error: ‘DistanceResult’ in namespace ‘pinocchio::fcl’ does not name a type
   82 |   fcl::DistanceResult & computeDistance(
      |        ^~~~~~~~~~~~~~
In file included from /opt/ros/humble/include/pinocchio/collision/distance.hpp:99:
/opt/ros/humble/include/pinocchio/collision/distance.hxx:44:15: error: ‘DistanceResult’ in namespace ‘pinocchio::fcl’ does not name a type
   44 |   inline fcl::DistanceResult & computeDistance(
      |               ^~~~~~~~~~~~~~
/opt/ros/humble/include/pinocchio/collision/distance.hxx: In function ‘std::size_t pinocchio::computeDistances(const GeometryModel&, GeometryData&)’:
/opt/ros/humble/include/pinocchio/collision/distance.hxx:94:9: error: ‘computeDistance’ was not declared in this scope; did you mean ‘computeDistances’?
   94 |         computeDistance(geom_model, geom_data, cp_index);
      |         ^~~~~~~~~~~~~~~
      |         computeDistances
/opt/ros/humble/include/pinocchio/collision/distance.hxx:95:23: error: ‘struct pinocchio::GeometryData’ has no member named ‘distanceResults’
   95 |         if (geom_data.distanceResults[cp_index].min_distance < min_dist)
      |                       ^~~~~~~~~~~~~~~
/opt/ros/humble/include/pinocchio/collision/distance.hxx:98:32: error: ‘struct pinocchio::GeometryData’ has no member named ‘distanceResults’
   98 |           min_dist = geom_data.distanceResults[cp_index].min_distance;
      |                                ^~~~~~~~~~~~~~~
/opt/ros/humble/include/pinocchio/collision/collision.hxx: At global scope:
/opt/ros/humble/include/pinocchio/collision/collision.hxx:22:5: error: ‘pinocchio::fcl::CollisionRequest’ has not been declared
   22 |     fcl::CollisionRequest & collision_request)
      |     ^~~

When compiling my program, I encountered the above compilation issues. Judging from the errors, it seems they are caused by version-related API changes. I am using Pinocchio version 3.3.0 and hpp-fcl version 2.4.5. Could someone help me understand what the problem is and how to resolve it?

[nim65s]

Hi,

Could you explain why are you using those old versions ?

[uestccaixukun]

Hi,

Could you explain why are you using those old versions ?

Because I am using a Yocto-based system (Yocto 5.0), the version of Pinocchio selected by Yocto is 3.3.0, and the version of hpp-fcl is 2.4.5. Additionally, the PINOCCHIO_WITH_HPP_FCL compilation option is enabled.

Are there any compatibility issues with these versions?

[nim65s]

Ok, thanks, I just wanted to see if we could just update things, but in this case I think we can't. Also, your answer will help if we need to reproduce the issue.

Anyway, in this case, can you try with PINOCCHIO_ENABLE_COMPATIBILITY_WITH_VERSION_2 ? It is documented here: https://github.com/stack-of-tasks/pinocchio/blob/devel/doc/_porting.md

[uestccaixukun]

Ok, thanks, I just wanted to see if we could just update things, but in this case I think we can't. Also, your answer will help if we need to reproduce the issue.

Anyway, in this case, can you try with PINOCCHIO_ENABLE_COMPATIBILITY_WITH_VERSION_2 ? It is documented here: https://github.com/stack-of-tasks/pinocchio/blob/devel/doc/_porting.md

Thanks.

I tried adding this configuration, but it didn’t help.

Since my Pinocchio version is already 3.3.0 (not 2.x), I don’t think it’s necessary to add this configuration.

[jorisv]

Hello @uestccaixukun,

I rebuilt pinocchio 3.3.0 with hpp-fcl 2.4.5 without any error.
Are you sure PINOCCHIO_WITH_HPP_FCL is set for the translation unit you're building ?
How pinocchio/collision/collision.hpp is included ?

[uestccaixukun]

Hello @uestccaixukun,

I rebuilt pinocchio 3.3.0 with hpp-fcl 2.4.5 without any error. Are you sure PINOCCHIO_WITH_HPP_FCL is set for the translation unit you're building ? How pinocchio/collision/collision.hpp is included ?

Thanks.

This is very helpful. I originally thought the PINOCCHIO_WITH_HPP_FCL configuration was only for compiling the Pinocchio library itself, but now I realize that my own project also needs to define this macro.