osqp和osqp-eigen优化库安装编译报错记录
编译安装osqp-eigen库的过程一直报错，网上搜索也没发现什么类似的原因。后来仔细看了两个库的项目仓库，发现原因可能是两个库的版本不匹配，osqp库比较新，而osqp-eigen库比较旧，还未对于新版进行适配，因而尝试下载旧版的osqp库，之后osqp-eigen库的编译安装就正常通过了。
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编译安装osqp-eigen库的过程一直报错，网上搜索也没发现什么类似的原因。后来仔细看了两个库的项目仓库，发现原因可能是两个库的版本不匹配，osqp库比较新（该库一直在频繁更新），而osqp-eigen库比较旧（更新频率较慢），还未对于新版进行适配。因而，尝试下载旧版的osqp库，之后osqp-eigen库的编译安装就正常通过了。
测试时间：2023年6月12日
1 背景
1.1 osqp
osqp 是一种二次规划求解器，可用求解线性组合或二次规划问题，在同类问题中求解效率极高！
osqp 官网：https://osqp.org/，其C语言版本由 oxford 大学开发。
1.2 osqp-eigen
osqp-eigen 是对 osqp 库的 eigen 接口封装，使其更加好用。
osqp 是用纯 C 实现的，但是纯 C 中对于矩阵和向量的操作不是特别友好，因此为了更方便使用 osqp，在构造 C++ 接口时，引入了 Eigen 库，方便矩阵和向量的操作。
注意官方支持 python 和 matlab，无 C++ 接口，但给出两个推荐的第三方社区维护的接口：
- google 的 osqp-cpp：https://github.com/google/osqp-cpp
- Giulio Romualdi 的 osqp-eigen：https://github.com/robotology/osqp-eigen
osqp-cpp 与 osqp-eigen 类似，区别如下：
license：osqp-cpp 为 MIT(最宽松)，osqp-eigen 为 LGPL(传染式开源)
dependency：两者除都依赖 Eigen 以外, osqp-cpp 依赖 google 自家的 abseil-cpp 库，osqp-eigen 没有其他依赖。
推荐使用 osqp-eigen 作为 osqp 的 C++ 接口。
1.3 参考
[2] OSQP使用说明
2 安装方法
由于已经在安装ros时已经自带了eigen库，这里不再安装。
osqp-eigen 依赖于 osqp 库，osqp 依赖于 eigen 库，故建议的安装顺序如下：（1）eigen；（2）osqp；（3）osqp-eigen
2.1 osqp库安装
这里需要指定版本，不指定的话，后面编译安装 osqp-eigen 库时会报错。等后续 osqp-eigen 的版本更新，对新版的 osqp 库适配后应该就可以不用再指定了。
git clone --recursive -b release-0.6.3 https://github.com/oxfordcontrol/osqp.git
cd osqp
mkdir build && cd build
cmake ..
make
sudo make install
2.2 osqp-eigen安装
测试时间为 2023 年 06 月 12 日，osqp-eigen 的最新版本为 v0.8.0，其能够适配 osqp 的版本为 v0.6.3。
git clone https://github.com/robotology/osqp-eigen.git
cd osqp-eigen
mkdir build && cd build
cmake ..
make
sudo make install
3 报错部分截图
如果不指定 osqp 的安装版本，在编译安装 osqp-eigen 库时会报错，报错的部分截图如下。
4 完整的报错记录
sudo make install
Scanning dependencies of target OsqpEigen
[ 20%] Building CXX object CMakeFiles/OsqpEigen.dir/src/Data.cpp.o
In file included from /home/hahaha/osqp-eigen/include/OsqpEigen/Data.hpp:18,
from /home/hahaha/osqp-eigen/src/Data.cpp:12:
/home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.hpp:42:37: error: ‘csc’ has not been declared
42 | csc*& osqpSparseMatrix);
| ^~~
/home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.hpp:51:56: error: ‘csc’ does not name a type
51 | bool osqpSparseMatrixToEigenSparseMatrix(const csc* const & osqpSparseMatrix,
| ^~~
/home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.hpp:61:47: error: ‘csc’ does not name a type
61 | bool osqpSparseMatrixToTriplets(const csc* const & osqpSparseMatrix,
| ^~~
In file included from /home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.hpp:76,
from /home/hahaha/osqp-eigen/include/OsqpEigen/Data.hpp:18,
from /home/hahaha/osqp-eigen/src/Data.cpp:12:
/home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:12:62: error: ‘csc’ has not been declared
12 | csc*& osqpSparseMatrix)
| ^~~
In file included from /home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.hpp:76,
from /home/hahaha/osqp-eigen/include/OsqpEigen/Data.hpp:18,
from /home/hahaha/osqp-eigen/src/Data.cpp:12:
/home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp: In function ‘bool OsqpEigen::SparseMatrixHelper::createOsqpSparseMatrix(const Eigen::SparseCompressedBase<Derived>&, int*&)’:
/home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:18:5: error: ‘c_int’ was not declared in this scope; did you mean ‘u_int’?
18 | c_int rows = colMajorCopy.rows();
| ^~~~~
| u_int
/home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:19:10: error: expected ‘;’ before ‘cols’
19 | c_int cols = colMajorCopy.cols();
| ^~~~~
| ;
/home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:20:10: error: expected ‘;’ before ‘numberOfNonZeroCoeff’
20 | c_int numberOfNonZeroCoeff = colMajorCopy.nonZeros();
| ^~~~~~~~~~~~~~~~~~~~~
| ;
/home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:34:36: error: ‘rows’ was not declared in this scope
34 | osqpSparseMatrix = csc_spalloc(rows, cols, numberOfNonZeroCoeff, 1, 0);
| ^~~~
/home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:34:42: error: ‘cols’ was not declared in this scope; did you mean ‘cosl’?
34 | osqpSparseMatrix = csc_spalloc(rows, cols, numberOfNonZeroCoeff, 1, 0);
| ^~~~
| cosl
/home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:34:48: error: ‘numberOfNonZeroCoeff’ was not declared in this scope
34 | osqpSparseMatrix = csc_spalloc(rows, cols, numberOfNonZeroCoeff, 1, 0);
| ^~~~~~~~~~~~~~~~~~~~
/home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:34:24: error: there are no arguments to ‘csc_spalloc’ that depend on a template parameter, so a declaration of ‘csc_spalloc’ must be available [-fpermissive]
34 | osqpSparseMatrix = csc_spalloc(rows, cols, numberOfNonZeroCoeff, 1, 0);
| ^~~~~~~~~~~
/home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:34:24: note: (if you use ‘-fpermissive’, G++ will accept your code, but allowing the use of an undeclared name is deprecated)
/home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:39:31: error: request for member ‘p’ in ‘osqpSparseMatrix->’, which is of non-class type ‘int’
39 | osqpSparseMatrix->p[k] = static_cast<c_int>(outerIndexPtr[k]);
| ^
/home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:39:50: error: ‘c_int’ does not name a type; did you mean ‘u_int’?
39 | osqpSparseMatrix->p[k] = static_cast<c_int>(outerIndexPtr[k]);
| ^~~~~
| u_int
/home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:42:35: error: request for member ‘p’ in ‘osqpSparseMatrix->’, which is of non-class type ‘int’
42 | osqpSparseMatrix->p[k] = 0;
| ^
/home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:44:35: error: request for member ‘p’ in ‘osqpSparseMatrix->’, which is of non-class type ‘int’
44 | osqpSparseMatrix->p[k] = osqpSparseMatrix->p[k-1] + innerNonZerosPtr[k-1];
| ^
/home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:44:60: error: request for member ‘p’ in ‘osqpSparseMatrix->’, which is of non-class type ‘int’
44 | osqpSparseMatrix->p[k] = osqpSparseMatrix->p[k-1] + innerNonZerosPtr[k-1];
| ^
/home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:48:31: error: request for member ‘i’ in ‘osqpSparseMatrix->’, which is of non-class type ‘int’
48 | osqpSparseMatrix->i[innerOsqpPosition] = static_cast<c_int>(it.row());
| ^
/home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:48:66: error: ‘c_int’ does not name a type; did you mean ‘u_int’?
48 | osqpSparseMatrix->i[innerOsqpPosition] = static_cast<c_int>(it.row());
| ^~~~~
| u_int
/home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:49:31: error: request for member ‘x’ in ‘osqpSparseMatrix->’, which is of non-class type ‘int’
49 | osqpSparseMatrix->x[innerOsqpPosition] = static_cast<c_float>(it.value());
| ^
/home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:49:66: error: ‘c_float’ does not name a type; did you mean ‘float’?
49 | osqpSparseMatrix->x[innerOsqpPosition] = static_cast<c_float>(it.value());
| ^~~~~~~
| float
/home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:53:23: error: request for member ‘p’ in ‘osqpSparseMatrix->’, which is of non-class type ‘int’
53 | osqpSparseMatrix->p[static_cast<int>(cols)] = static_cast<c_int>(innerOsqpPosition);
| ^
/home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:53:63: error: ‘c_int’ does not name a type; did you mean ‘u_int’?
53 | osqpSparseMatrix->p[static_cast<int>(cols)] = static_cast<c_int>(innerOsqpPosition);
| ^~~~~
| u_int
/home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp: At global scope:
/home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:61:70: error: ‘csc’ does not name a type
61 | pEigen::SparseMatrixHelper::osqpSparseMatrixToTriplets(const csc* const & osqpSparseMatrix,
| ^~~
/home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp: In function ‘bool OsqpEigen::SparseMatrixHelper::osqpSparseMatrixToTriplets(const int* const&, std::vector<Eigen::Triplet<T> >&)’:
/home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:72:5: error: ‘c_int’ was not declared in this scope; did you mean ‘u_int’?
72 | c_int* innerIndexPtr = osqpSparseMatrix->i;
| ^~~~~
| u_int
/home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:72:12: error: ‘innerIndexPtr’ was not declared in this scope
72 | c_int* innerIndexPtr = osqpSparseMatrix->i;
| ^~~~~~~~~~~~~
/home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:72:46: error: request for member ‘i’ in ‘osqpSparseMatrix->’, which is of non-class type ‘const int’
72 | c_int* innerIndexPtr = osqpSparseMatrix->i;
| ^
/home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:73:12: error: ‘outerIndexPtr’ was not declared in this scope
73 | c_int* outerIndexPtr = osqpSparseMatrix->p;
| ^~~~~~~~~~~~~
/home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:73:46: error: request for member ‘p’ in ‘osqpSparseMatrix->’, which is of non-class type ‘const int’
73 | c_int* outerIndexPtr = osqpSparseMatrix->p;
| ^
/home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:76:5: error: ‘c_float’ was not declared in this scope; did you mean ‘float’?
76 | c_float* valuePtr = osqpSparseMatrix->x;
| ^~~~~~~
| float
/home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:76:14: error: ‘valuePtr’ was not declared in this scope
76 | c_float* valuePtr = osqpSparseMatrix->x;
| ^~~~~~~~
/home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:76:43: error: request for member ‘x’ in ‘osqpSparseMatrix->’, which is of non-class type ‘const int’
76 | c_float* valuePtr = osqpSparseMatrix->x;
| ^
/home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:77:10: error: expected ‘;’ before ‘numberOfNonZeroCoeff’
77 | c_int numberOfNonZeroCoeff = osqpSparseMatrix->p[osqpSparseMatrix->n];
| ^~~~~~~~~~~~~~~~~~~~~
| ;
/home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:82:12: error: expected ‘;’ before ‘value’
82 | c_float value;
| ^~~~~~
| ;
/home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:84:24: error: ‘numberOfNonZeroCoeff’ was not declared in this scope
84 | tripletList.resize(numberOfNonZeroCoeff);
| ^~~~~~~~~~~~~~~~~~~~
/home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:87:9: error: ‘value’ was not declared in this scope
87 | value = valuePtr[i];
| ^~~~~
/home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp: At global scope:
/home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:101:79: error: ‘csc’ does not name a type
101 | parseMatrixHelper::osqpSparseMatrixToEigenSparseMatrix(const csc* const & osqpSparseMatrix,
| ^~~
/home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp: In function ‘bool OsqpEigen::SparseMatrixHelper::osqpSparseMatrixToEigenSparseMatrix(const int* const&, Eigen::SparseMatrix<Scalar>&)’:
/home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:112:34: error: request for member ‘m’ in ‘osqpSparseMatrix->’, which is of non-class type ‘const int’
112 | int rows = osqpSparseMatrix->m;
| ^
/home/hahaha/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:113:34: error: request for member ‘n’ in ‘osqpSparseMatrix->’, which is of non-class type ‘const int’
113 | int cols = osqpSparseMatrix->n;
| ^
In file included from /home/hahaha/osqp-eigen/src/Data.cpp:12:
/home/hahaha/osqp-eigen/include/OsqpEigen/Data.hpp: At global scope:
/home/hahaha/osqp-eigen/include/OsqpEigen/Data.hpp:30:9: error: ‘OSQPData’ does not name a type
30 | OSQPData *m_data; /**< OSQPData struct. */
| ^~~~~~~~
/home/hahaha/osqp-eigen/include/OsqpEigen/Data.hpp:96:51: error: ‘c_float’ was not declared in this scope; did you mean ‘float’?
96 | bool setGradient(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> gradientVector);
| ^~~~~~~
| float
/home/hahaha/osqp-eigen/include/OsqpEigen/Data.hpp:96:76: error: template argument 1 is invalid
96 | etGradient(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> gradientVector);
| ^
/home/hahaha/osqp-eigen/include/OsqpEigen/Data.hpp:96:77: error: template argument 1 is invalid
96 | tGradient(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> gradientVector);
| ^~
/home/hahaha/osqp-eigen/include/OsqpEigen/Data.hpp:96:77: error: template argument 3 is invalid
/home/hahaha/osqp-eigen/include/OsqpEigen/Data.hpp:98:23: error: ‘c_float’ was not declared in this scope; did you mean ‘float’?
98 | Eigen::Matrix<c_float, Eigen::Dynamic, 1> getGradient();
| ^~~~~~~
| float
/home/hahaha/osqp-eigen/include/OsqpEigen/Data.hpp:98:49: error: template argument 1 is invalid
98 | Eigen::Matrix<c_float, Eigen::Dynamic, 1> getGradient();
| ^
/home/hahaha/osqp-eigen/include/OsqpEigen/Data.hpp:116:53: error: ‘c_float’ was not declared in this scope; did you mean ‘float’?
116 | bool setLowerBound(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> lowerBoundVector);
| ^~~~~~~
| float
/home/hahaha/osqp-eigen/include/OsqpEigen/Data.hpp:116:78: error: template argument 1 is invalid
116 | LowerBound(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> lowerBoundVector);
| ^
/home/hahaha/osqp-eigen/include/OsqpEigen/Data.hpp:116:79: error: template argument 1 is invalid
116 | owerBound(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> lowerBoundVector);
| ^~
/home/hahaha/osqp-eigen/include/OsqpEigen/Data.hpp:116:79: error: template argument 3 is invalid
/home/hahaha/osqp-eigen/include/OsqpEigen/Data.hpp:126:53: error: ‘c_float’ was not declared in this scope; did you mean ‘float’?
126 | bool setUpperBound(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> upperBoundVector);
| ^~~~~~~
| float
/home/hahaha/osqp-eigen/include/OsqpEigen/Data.hpp:126:78: error: template argument 1 is invalid
126 | UpperBound(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> upperBoundVector);
| ^
/home/hahaha/osqp-eigen/include/OsqpEigen/Data.hpp:126:79: error: template argument 1 is invalid
126 | pperBound(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> upperBoundVector);
| ^~
/home/hahaha/osqp-eigen/include/OsqpEigen/Data.hpp:126:79: error: template argument 3 is invalid
/home/hahaha/osqp-eigen/include/OsqpEigen/Data.hpp:137:49: error: ‘c_float’ was not declared in this scope; did you mean ‘float’?
137 | bool setBounds(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> lowerBound,
| ^~~~~~~
| float
/home/hahaha/osqp-eigen/include/OsqpEigen/Data.hpp:137:74: error: template argument 1 is invalid
137 | ool setBounds(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> lowerBound,
| ^
/home/hahaha/osqp-eigen/include/OsqpEigen/Data.hpp:137:75: error: template argument 1 is invalid
137 | ool setBounds(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> lowerBound,
| ^~
/home/hahaha/osqp-eigen/include/OsqpEigen/Data.hpp:137:75: error: template argument 3 is invalid
/home/hahaha/osqp-eigen/include/OsqpEigen/Data.hpp:138:49: error: ‘c_float’ was not declared in this scope; did you mean ‘float’?
138 | Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> upperBound);
| ^~~~~~~
| float
/home/hahaha/osqp-eigen/include/OsqpEigen/Data.hpp:138:74: error: template argument 1 is invalid
138 | Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> upperBound);
| ^
/home/hahaha/osqp-eigen/include/OsqpEigen/Data.hpp:138:75: error: template argument 1 is invalid
138 | Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> upperBound);
| ^~
/home/hahaha/osqp-eigen/include/OsqpEigen/Data.hpp:138:75: error: template argument 3 is invalid
/home/hahaha/osqp-eigen/include/OsqpEigen/Data.hpp:144:9: error: ‘OSQPData’ does not name a type
144 | OSQPData *const & getData() const;
| ^~~~~~~~
In file included from /home/hahaha/osqp-eigen/include/OsqpEigen/Data.hpp:154,
from /home/hahaha/osqp-eigen/src/Data.cpp:12:
/home/hahaha/osqp-eigen/include/OsqpEigen/Data.tpp: In member function ‘bool OsqpEigen::Data::setHessianMatrix(const Eigen::SparseCompressedBase<Derived>&)’:
/home/hahaha/osqp-eigen/include/OsqpEigen/Data.tpp:30:34: error: ‘m_data’ was not declared in this scope
30 | if ((hessianMatrix.rows() != m_data->n) || (hessianMatrix.cols()!= m_data->n)){
| ^~~~~~
/home/hahaha/osqp-eigen/include/OsqpEigen/Data.tpp:39:93: error: ‘m_data’ was not declared in this scope
39 | MatrixHelper::createOsqpSparseMatrix(hessianMatrixUpperTriangular, m_data->P)){
| ^~~~~~
In file included from /home/hahaha/osqp-eigen/include/OsqpEigen/Data.hpp:154,
from /home/hahaha/osqp-eigen/src/Data.cpp:12:
/home/hahaha/osqp-eigen/include/OsqpEigen/Data.tpp: In member function ‘bool OsqpEigen::Data::setLinearConstraintsMatrix(const Eigen::SparseCompressedBase<Derived>&)’:
/home/hahaha/osqp-eigen/include/OsqpEigen/Data.tpp:70:44: error: ‘m_data’ was not declared in this scope
70 | if ((linearConstraintsMatrix.rows() != m_data->m) || (linearConstraintsMatrix.cols()!= m_data->n)){
| ^~~~~~
/home/hahaha/osqp-eigen/include/OsqpEigen/Data.tpp:78:65: error: ‘m_data’ was not declared in this scope
78 | m_data->A)){
| ^~~~~~
/home/hahaha/osqp-eigen/src/Data.cpp: In constructor ‘OsqpEigen::Data::Data()’:
/home/hahaha/osqp-eigen/src/Data.cpp:24:5: error: ‘m_data’ was not declared in this scope
24 | m_data = (OSQPData *)c_malloc(sizeof(OSQPData));
| ^~~~~~
/home/hahaha/osqp-eigen/src/Data.cpp:24:15: error: ‘OSQPData’ was not declared in this scope
24 | m_data = (OSQPData *)c_malloc(sizeof(OSQPData));
| ^~~~~~~~
/home/hahaha/osqp-eigen/src/Data.cpp:24:25: error: expected primary-expression before ‘)’ token
24 | m_data = (OSQPData *)c_malloc(sizeof(OSQPData));
| ^
/home/hahaha/osqp-eigen/src/Data.cpp: In constructor ‘OsqpEigen::Data::Data(int, int)’:
/home/hahaha/osqp-eigen/src/Data.cpp:38:5: error: ‘m_data’ was not declared in this scope
38 | m_data = (OSQPData *)c_malloc(sizeof(OSQPData));
| ^~~~~~
/home/hahaha/osqp-eigen/src/Data.cpp:38:15: error: ‘OSQPData’ was not declared in this scope
38 | m_data = (OSQPData *)c_malloc(sizeof(OSQPData));
| ^~~~~~~~
/home/hahaha/osqp-eigen/src/Data.cpp:38:25: error: expected primary-expression before ‘)’ token
38 | m_data = (OSQPData *)c_malloc(sizeof(OSQPData));
| ^
/home/hahaha/osqp-eigen/src/Data.cpp: In member function ‘void OsqpEigen::Data::clearHessianMatrix()’:
/home/hahaha/osqp-eigen/src/Data.cpp:50:20: error: ‘m_data’ was not declared in this scope
50 | csc_spfree(m_data->P);
| ^~~~~~
/home/hahaha/osqp-eigen/src/Data.cpp:50:9: error: ‘csc_spfree’ was not declared in this scope
50 | csc_spfree(m_data->P);
| ^~~~~~~~~~
/home/hahaha/osqp-eigen/src/Data.cpp: In member function ‘void OsqpEigen::Data::clearLinearConstraintsMatrix()’:
/home/hahaha/osqp-eigen/src/Data.cpp:59:20: error: ‘m_data’ was not declared in this scope
59 | csc_spfree(m_data->A);
| ^~~~~~
/home/hahaha/osqp-eigen/src/Data.cpp:59:9: error: ‘csc_spfree’ was not declared in this scope
59 | csc_spfree(m_data->A);
| ^~~~~~~~~~
/home/hahaha/osqp-eigen/src/Data.cpp: In destructor ‘OsqpEigen::Data::~Data()’:
/home/hahaha/osqp-eigen/src/Data.cpp:68:12: error: ‘m_data’ was not declared in this scope
68 | c_free(m_data);
| ^~~~~~
/home/hahaha/osqp-eigen/src/Data.cpp:68:5: error: ‘c_free’ was not declared in this scope; did you mean ‘free’?
68 | c_free(m_data);
| ^~~~~~
| free
/home/hahaha/osqp-eigen/src/Data.cpp: In member function ‘void OsqpEigen::Data::setNumberOfVariables(int)’:
/home/hahaha/osqp-eigen/src/Data.cpp:74:5: error: ‘m_data’ was not declared in this scope
74 | m_data->n = n;
| ^~~~~~
/home/hahaha/osqp-eigen/src/Data.cpp: In member function ‘void OsqpEigen::Data::setNumberOfConstraints(int)’:
/home/hahaha/osqp-eigen/src/Data.cpp:80:5: error: ‘m_data’ was not declared in this scope
80 | m_data->m = m;
| ^~~~~~
/home/hahaha/osqp-eigen/src/Data.cpp: At global scope:
/home/hahaha/osqp-eigen/src/Data.cpp:83:1: error: ‘OSQPData’ does not name a type
83 | OSQPData* const & OsqpEigen::Data::getData() const
| ^~~~~~~~
/home/hahaha/osqp-eigen/src/Data.cpp: In member function ‘bool OsqpEigen::Data::isSet() const’:
/home/hahaha/osqp-eigen/src/Data.cpp:90:36: error: ‘m_data’ was not declared in this scope
90 | const bool areConstraintsOk = (m_data->m == 0) ||
| ^~~~~~
/home/hahaha/osqp-eigen/src/Data.cpp: At global scope:
/home/hahaha/osqp-eigen/src/Data.cpp:102:60: error: ‘c_float’ was not declared in this scope; did you mean ‘float’?
102 | bool OsqpEigen::Data::setGradient(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> gradient)
| ^~~~~~~
| float
/home/hahaha/osqp-eigen/src/Data.cpp:102:85: error: template argument 1 is invalid
102 | ta::setGradient(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> gradient)
| ^
/home/hahaha/osqp-eigen/src/Data.cpp:102:86: error: template argument 1 is invalid
102 | ta::setGradient(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> gradient)
| ^~
/home/hahaha/osqp-eigen/src/Data.cpp:102:86: error: template argument 3 is invalid
/home/hahaha/osqp-eigen/src/Data.cpp: In member function ‘bool OsqpEigen::Data::setGradient(int)’:
/home/hahaha/osqp-eigen/src/Data.cpp:104:17: error: request for member ‘rows’ in ‘gradient’, which is of non-class type ‘int’
104 | if(gradient.rows() != m_data->n){
| ^~~~
/home/hahaha/osqp-eigen/src/Data.cpp:104:27: error: ‘m_data’ was not declared in this scope
104 | if(gradient.rows() != m_data->n){
| ^~~~~~
/home/hahaha/osqp-eigen/src/Data.cpp:110:5: error: ‘m_data’ was not declared in this scope
110 | m_data->q = gradient.data();
| ^~~~~~
/home/hahaha/osqp-eigen/src/Data.cpp:110:26: error: request for member ‘data’ in ‘gradient’, which is of non-class type ‘int’
110 | m_data->q = gradient.data();
| ^~~~
/home/hahaha/osqp-eigen/src/Data.cpp: At global scope:
/home/hahaha/osqp-eigen/src/Data.cpp:114:15: error: ‘c_float’ was not declared in this scope; did you mean ‘float’?
114 | Eigen::Matrix<c_float, Eigen::Dynamic, 1> OsqpEigen::Data::getGradient()
| ^~~~~~~
| float
/home/hahaha/osqp-eigen/src/Data.cpp:114:41: error: template argument 1 is invalid
114 | Eigen::Matrix<c_float, Eigen::Dynamic, 1> OsqpEigen::Data::getGradient()
| ^
/home/hahaha/osqp-eigen/src/Data.cpp: In member function ‘int OsqpEigen::Data::getGradient()’:
/home/hahaha/osqp-eigen/src/Data.cpp:116:37: error: ‘c_float’ was not declared in this scope; did you mean ‘float’?
116 | return Eigen::Map<Eigen::Matrix<c_float, Eigen::Dynamic, 1>>(m_data->q, m_data->n);
| ^~~~~~~
| float
/home/hahaha/osqp-eigen/src/Data.cpp:116:62: error: template argument 1 is invalid
116 | return Eigen::Map<Eigen::Matrix<c_float, Eigen::Dynamic, 1>>(m_data->q, m_data->n);
| ^
/home/hahaha/osqp-eigen/src/Data.cpp:116:63: error: template argument 1 is invalid
116 | return Eigen::Map<Eigen::Matrix<c_float, Eigen::Dynamic, 1>>(m_data->q, m_data->n);
| ^~
/home/hahaha/osqp-eigen/src/Data.cpp:116:66: error: ‘m_data’ was not declared in this scope
116 | return Eigen::Map<Eigen::Matrix<c_float, Eigen::Dynamic, 1>>(m_data->q, m_data->n);
| ^~~~~~
/home/hahaha/osqp-eigen/src/Data.cpp: At global scope:
/home/hahaha/osqp-eigen/src/Data.cpp:119:62: error: ‘c_float’ was not declared in this scope; did you mean ‘float’?
119 | bool OsqpEigen::Data::setLowerBound(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> lowerBound)
| ^~~~~~~
| float
/home/hahaha/osqp-eigen/src/Data.cpp:119:87: error: template argument 1 is invalid
119 | setLowerBound(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> lowerBound)
| ^
/home/hahaha/osqp-eigen/src/Data.cpp:119:88: error: template argument 1 is invalid
119 | setLowerBound(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> lowerBound)
| ^~
/home/hahaha/osqp-eigen/src/Data.cpp:119:88: error: template argument 3 is invalid
/home/hahaha/osqp-eigen/src/Data.cpp: In member function ‘bool OsqpEigen::Data::setLowerBound(int)’:
/home/hahaha/osqp-eigen/src/Data.cpp:121:19: error: request for member ‘rows’ in ‘lowerBound’, which is of non-class type ‘int’
121 | if(lowerBound.rows() != m_data->m){
| ^~~~
/home/hahaha/osqp-eigen/src/Data.cpp:121:29: error: ‘m_data’ was not declared in this scope
121 | if(lowerBound.rows() != m_data->m){
| ^~~~~~
/home/hahaha/osqp-eigen/src/Data.cpp:127:5: error: ‘m_data’ was not declared in this scope
127 | m_data->l = lowerBound.data();
| ^~~~~~
/home/hahaha/osqp-eigen/src/Data.cpp:127:28: error: request for member ‘data’ in ‘lowerBound’, which is of non-class type ‘int’
127 | m_data->l = lowerBound.data();
| ^~~~
/home/hahaha/osqp-eigen/src/Data.cpp: At global scope:
/home/hahaha/osqp-eigen/src/Data.cpp:131:62: error: ‘c_float’ was not declared in this scope; did you mean ‘float’?
131 | bool OsqpEigen::Data::setUpperBound(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> upperBound)
| ^~~~~~~
| float
/home/hahaha/osqp-eigen/src/Data.cpp:131:87: error: template argument 1 is invalid
131 | setUpperBound(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> upperBound)
| ^
/home/hahaha/osqp-eigen/src/Data.cpp:131:88: error: template argument 1 is invalid
131 | setUpperBound(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> upperBound)
| ^~
/home/hahaha/osqp-eigen/src/Data.cpp:131:88: error: template argument 3 is invalid
/home/hahaha/osqp-eigen/src/Data.cpp: In member function ‘bool OsqpEigen::Data::setUpperBound(int)’:
/home/hahaha/osqp-eigen/src/Data.cpp:133:19: error: request for member ‘rows’ in ‘upperBound’, which is of non-class type ‘int’
133 | if(upperBound.rows() != m_data->m){
| ^~~~
/home/hahaha/osqp-eigen/src/Data.cpp:133:29: error: ‘m_data’ was not declared in this scope
133 | if(upperBound.rows() != m_data->m){
| ^~~~~~
/home/hahaha/osqp-eigen/src/Data.cpp:139:5: error: ‘m_data’ was not declared in this scope
139 | m_data->u = upperBound.data();
| ^~~~~~
/home/hahaha/osqp-eigen/src/Data.cpp:139:28: error: request for member ‘data’ in ‘upperBound’, which is of non-class type ‘int’
139 | m_data->u = upperBound.data();
| ^~~~
/home/hahaha/osqp-eigen/src/Data.cpp: At global scope:
/home/hahaha/osqp-eigen/src/Data.cpp:143:58: error: ‘c_float’ was not declared in this scope; did you mean ‘float’?
143 | bool OsqpEigen::Data::setBounds(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> lowerBound,
| ^~~~~~~
| float
/home/hahaha/osqp-eigen/src/Data.cpp:143:83: error: template argument 1 is invalid
143 | ta::setBounds(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> lowerBound,
| ^
/home/hahaha/osqp-eigen/src/Data.cpp:143:84: error: template argument 1 is invalid
143 | ta::setBounds(Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> lowerBound,
| ^~
/home/hahaha/osqp-eigen/src/Data.cpp:143:84: error: template argument 3 is invalid
/home/hahaha/osqp-eigen/src/Data.cpp:144:58: error: ‘c_float’ was not declared in this scope; did you mean ‘float’?
144 | Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> upperBound)
| ^~~~~~~
| float
/home/hahaha/osqp-eigen/src/Data.cpp:144:83: error: template argument 1 is invalid
144 | Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> upperBound)
| ^
/home/hahaha/osqp-eigen/src/Data.cpp:144:84: error: template argument 1 is invalid
144 | Eigen::Ref<Eigen::Matrix<c_float, Eigen::Dynamic, 1>> upperBound)
| ^~
/home/hahaha/osqp-eigen/src/Data.cpp:144:84: error: template argument 3 is invalid
make[2]: *** [CMakeFiles/OsqpEigen.dir/build.make:63：CMakeFiles/OsqpEigen.dir/src/Data.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:124：CMakeFiles/OsqpEigen.dir/all] 错误 2
make: *** [Makefile:130：all] 错误 2
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