Compile Error

[BreederBai]

When I execute the following code, I get an error when compiling the code.
git clone https://github.com/flexible-collision-library/fcl cd fcl mkdir build cd build cmake .. sudo make install

Scanning dependencies of target test_gjk_libccd-inl_epa [ 95%] Building CXX object test/narrowphase/detail/convexity_based_algorithm/CMakeFiles/test_gjk_libccd-inl_epa.dir/test_gjk_libccd-inl_epa.cpp.o In file included from /usr/include/eigen3/Eigen/Core:348:0, from /usr/include/eigen3/Eigen/Dense:1, from /home/baiyang/src/fcl/include/fcl/common/types.h:46, from /home/baiyang/src/fcl/include/fcl/math/bv/AABB.h:41, from /home/baiyang/src/fcl/include/fcl/geometry/collision_geometry.h:43, from /home/baiyang/src/fcl/include/fcl/geometry/shape/shape_base.h:41, from /home/baiyang/src/fcl/include/fcl/geometry/shape/box.h:41, from /home/baiyang/src/fcl/include/fcl/narrowphase/detail/convexity_based_algorithm/gjk_libccd.h:47, from /home/baiyang/src/fcl/include/fcl/narrowphase/detail/convexity_based_algorithm/gjk_libccd-inl.h:41, from /home/baiyang/src/fcl/test/narrowphase/detail/convexity_based_algorithm/test_gjk_libccd-inl_epa.cpp:42: /usr/include/eigen3/Eigen/src/Core/Product.h: In instantiation of ‘struct Eigen::internal::product_result_scalar<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, Eigen::DenseShape, Eigen::DenseShape>’: /usr/include/eigen3/Eigen/src/Core/Product.h:78:73: required from ‘struct Eigen::internal::traits<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >’ /usr/include/eigen3/Eigen/src/Core/Product.h:151:7: required from ‘class Eigen::internal::dense_product_base<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0, 3>’ /usr/include/eigen3/Eigen/src/Core/Product.h:183:7: required from ‘class Eigen::ProductImpl<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0, Eigen::Dense>’ /usr/include/eigen3/Eigen/src/Core/Product.h:107:7: required from ‘class Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0>’ /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:94:33: required from ‘Eigen::RotationBase<Derived, _Dim>::VectorType Eigen::RotationBase<Derived, _Dim>::_transformVector(const OtherVectorType&) const [with OtherVectorType = Eigen::Matrix<float, 3, 1>; Derived = Eigen::AngleAxis<double>; int _Dim = 3; Eigen::RotationBase<Derived, _Dim>::VectorType = Eigen::Matrix<double, 3, 1>; typename Eigen::internal::traits<T>::Scalar = double]’ /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:128:32: required from ‘static Eigen::internal::rotation_base_generic_product_selector<RotationDerived, OtherVectorType, true>::ReturnType Eigen::internal::rotation_base_generic_product_selector<RotationDerived, OtherVectorType, true>::run(const RotationDerived&, const OtherVectorType&) [with RotationDerived = Eigen::AngleAxis<double>; OtherVectorType = Eigen::Matrix<float, 3, 1>; Eigen::internal::rotation_base_generic_product_selector<RotationDerived, OtherVectorType, true>::ReturnType = Eigen::Matrix<double, 3, 1>; typename RotationDerived::Scalar = double]’ /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:72:89: required from ‘typename Eigen::internal::rotation_base_generic_product_selector<Derived, OtherDerived, OtherDerived:: IsVectorAtCompileTime>::ReturnType Eigen::RotationBase<Derived, _Dim>::operator*(const Eigen::EigenBase<OtherDerived>&) const [with OtherDerived = Eigen::Matrix<float, 3, 1>; Derived = Eigen::AngleAxis<double>; int _Dim = 3; typename Eigen::internal::rotation_base_generic_product_selector<Derived, OtherDerived, OtherDerived:: IsVectorAtCompileTime>::ReturnType = Eigen::Matrix<double, 3, 1>]’ /home/baiyang/src/fcl/test/narrowphase/detail/convexity_based_algorithm/test_gjk_libccd-inl_epa.cpp:242:40: required from here /usr/include/eigen3/Eigen/src/Core/Product.h:41:98: error: no type named ‘ReturnType’ in ‘struct Eigen::internal::scalar_product_traits<double, float>’ typedef typename scalar_product_traits<typename Lhs::Scalar, typename Rhs::Scalar>::ReturnType Scalar; ^ In file included from /usr/include/eigen3/Eigen/Core:344:0, from /usr/include/eigen3/Eigen/Dense:1, from /home/baiyang/src/fcl/include/fcl/common/types.h:46, from /home/baiyang/src/fcl/include/fcl/math/bv/AABB.h:41, from /home/baiyang/src/fcl/include/fcl/geometry/collision_geometry.h:43, from /home/baiyang/src/fcl/include/fcl/geometry/shape/shape_base.h:41, from /home/baiyang/src/fcl/include/fcl/geometry/shape/box.h:41, from /home/baiyang/src/fcl/include/fcl/narrowphase/detail/convexity_based_algorithm/gjk_libccd.h:47, from /home/baiyang/src/fcl/include/fcl/narrowphase/detail/convexity_based_algorithm/gjk_libccd-inl.h:41, from /home/baiyang/src/fcl/test/narrowphase/detail/convexity_based_algorithm/test_gjk_libccd-inl_epa.cpp:42: /usr/include/eigen3/Eigen/src/Core/DenseBase.h: In instantiation of ‘class Eigen::DenseBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >’: /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:48:34: required from ‘class Eigen::MatrixBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >’ /usr/include/eigen3/Eigen/src/Core/Product.h:151:7: required from ‘class Eigen::internal::dense_product_base<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0, 3>’ /usr/include/eigen3/Eigen/src/Core/Product.h:183:7: required from ‘class Eigen::ProductImpl<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0, Eigen::Dense>’ /usr/include/eigen3/Eigen/src/Core/Product.h:107:7: required from ‘class Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0>’ /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:94:33: required from ‘Eigen::RotationBase<Derived, _Dim>::VectorType Eigen::RotationBase<Derived, _Dim>::_transformVector(const OtherVectorType&) const [with OtherVectorType = Eigen::Matrix<float, 3, 1>; Derived = Eigen::AngleAxis<double>; int _Dim = 3; Eigen::RotationBase<Derived, _Dim>::VectorType = Eigen::Matrix<double, 3, 1>; typename Eigen::internal::traits<T>::Scalar = double]’ /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:128:32: required from ‘static Eigen::internal::rotation_base_generic_product_selector<RotationDerived, OtherVectorType, true>::ReturnType Eigen::internal::rotation_base_generic_product_selector<RotationDerived, OtherVectorType, true>::run(const RotationDerived&, const OtherVectorType&) [with RotationDerived = Eigen::AngleAxis<double>; OtherVectorType = Eigen::Matrix<float, 3, 1>; Eigen::internal::rotation_base_generic_product_selector<RotationDerived, OtherVectorType, true>::ReturnType = Eigen::Matrix<double, 3, 1>; typename RotationDerived::Scalar = double]’ /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:72:89: required from ‘typename Eigen::internal::rotation_base_generic_product_selector<Derived, OtherDerived, OtherDerived:: IsVectorAtCompileTime>::ReturnType Eigen::RotationBase<Derived, _Dim>::operator*(const Eigen::EigenBase<OtherDerived>&) const [with OtherDerived = Eigen::Matrix<float, 3, 1>; Derived = Eigen::AngleAxis<double>; int _Dim = 3; typename Eigen::internal::rotation_base_generic_product_selector<Derived, OtherDerived, OtherDerived:: IsVectorAtCompileTime>::ReturnType = Eigen::Matrix<double, 3, 1>]’ /home/baiyang/src/fcl/test/narrowphase/detail/convexity_based_algorithm/test_gjk_libccd-inl_epa.cpp:242:40: required from here /usr/include/eigen3/Eigen/src/Core/DenseBase.h:78:25: error: using-declaration for non-member at class scope using Base::operator*; ^ /usr/include/eigen3/Eigen/src/Core/DenseBase.h:79:25: error: using-declaration for non-member at class scope using Base::operator/; ^ /usr/include/eigen3/Eigen/src/Core/DenseBase.h:80:17: error: using-declaration for non-member at class scope using Base::derived; ^ /usr/include/eigen3/Eigen/src/Core/DenseBase.h:81:17: error: using-declaration for non-member at class scope using Base::const_cast_derived; ^ /usr/include/eigen3/Eigen/src/Core/DenseBase.h:82:17: error: using-declaration for non-member at class scope using Base::rows; ^ /usr/include/eigen3/Eigen/src/Core/DenseBase.h:83:17: error: using-declaration for non-member at class scope using Base::cols; ^ /usr/include/eigen3/Eigen/src/Core/DenseBase.h:84:17: error: using-declaration for non-member at class scope using Base::size; ^ /usr/include/eigen3/Eigen/src/Core/DenseBase.h:85:17: error: using-declaration for non-member at class scope using Base::rowIndexByOuterInner; ^ /usr/include/eigen3/Eigen/src/Core/DenseBase.h:86:17: error: using-declaration for non-member at class scope using Base::colIndexByOuterInner; ^ /usr/include/eigen3/Eigen/src/Core/DenseBase.h:87:17: error: using-declaration for non-member at class scope using Base::coeff; ^ /usr/include/eigen3/Eigen/src/Core/DenseBase.h:88:17: error: using-declaration for non-member at class scope using Base::coeffByOuterInner; ^ /usr/include/eigen3/Eigen/src/Core/DenseBase.h:89:26: error: using-declaration for non-member at class scope using Base::operator(); ^ /usr/include/eigen3/Eigen/src/Core/DenseBase.h:90:26: error: using-declaration for non-member at class scope using Base::operator[]; ^ /usr/include/eigen3/Eigen/src/Core/DenseBase.h:91:17: error: using-declaration for non-member at class scope using Base::x; ^ /usr/include/eigen3/Eigen/src/Core/DenseBase.h:92:17: error: using-declaration for non-member at class scope using Base::y; ^ /usr/include/eigen3/Eigen/src/Core/DenseBase.h:93:17: error: using-declaration for non-member at class scope using Base::z; ^ /usr/include/eigen3/Eigen/src/Core/DenseBase.h:94:17: error: using-declaration for non-member at class scope using Base::w; ^ /usr/include/eigen3/Eigen/src/Core/DenseBase.h:95:17: error: using-declaration for non-member at class scope using Base::stride; ^ /usr/include/eigen3/Eigen/src/Core/DenseBase.h:96:17: error: using-declaration for non-member at class scope using Base::innerStride; ^ /usr/include/eigen3/Eigen/src/Core/DenseBase.h:97:17: error: using-declaration for non-member at class scope using Base::outerStride; ^ /usr/include/eigen3/Eigen/src/Core/DenseBase.h:98:17: error: using-declaration for non-member at class scope using Base::rowStride; ^ /usr/include/eigen3/Eigen/src/Core/DenseBase.h:99:17: error: using-declaration for non-member at class scope using Base::colStride; ^ In file included from /usr/include/eigen3/Eigen/Core:345:0, from /usr/include/eigen3/Eigen/Dense:1, from /home/baiyang/src/fcl/include/fcl/common/types.h:46, from /home/baiyang/src/fcl/include/fcl/math/bv/AABB.h:41, from /home/baiyang/src/fcl/include/fcl/geometry/collision_geometry.h:43, from /home/baiyang/src/fcl/include/fcl/geometry/shape/shape_base.h:41, from /home/baiyang/src/fcl/include/fcl/geometry/shape/box.h:41, from /home/baiyang/src/fcl/include/fcl/narrowphase/detail/convexity_based_algorithm/gjk_libccd.h:47, from /home/baiyang/src/fcl/include/fcl/narrowphase/detail/convexity_based_algorithm/gjk_libccd-inl.h:41, from /home/baiyang/src/fcl/test/narrowphase/detail/convexity_based_algorithm/test_gjk_libccd-inl_epa.cpp:42: /usr/include/eigen3/Eigen/src/Core/MatrixBase.h: In instantiation of ‘class Eigen::MatrixBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >’: /usr/include/eigen3/Eigen/src/Core/Product.h:151:7: required from ‘class Eigen::internal::dense_product_base<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0, 3>’ /usr/include/eigen3/Eigen/src/Core/Product.h:183:7: required from ‘class Eigen::ProductImpl<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0, Eigen::Dense>’ /usr/include/eigen3/Eigen/src/Core/Product.h:107:7: required from ‘class Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0>’ /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:94:33: required from ‘Eigen::RotationBase<Derived, _Dim>::VectorType Eigen::RotationBase<Derived, _Dim>::_transformVector(const OtherVectorType&) const [with OtherVectorType = Eigen::Matrix<float, 3, 1>; Derived = Eigen::AngleAxis<double>; int _Dim = 3; Eigen::RotationBase<Derived, _Dim>::VectorType = Eigen::Matrix<double, 3, 1>; typename Eigen::internal::traits<T>::Scalar = double]’ /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:128:32: required from ‘static Eigen::internal::rotation_base_generic_product_selector<RotationDerived, OtherVectorType, true>::ReturnType Eigen::internal::rotation_base_generic_product_selector<RotationDerived, OtherVectorType, true>::run(const RotationDerived&, const OtherVectorType&) [with RotationDerived = Eigen::AngleAxis<double>; OtherVectorType = Eigen::Matrix<float, 3, 1>; Eigen::internal::rotation_base_generic_product_selector<RotationDerived, OtherVectorType, true>::ReturnType = Eigen::Matrix<double, 3, 1>; typename RotationDerived::Scalar = double]’ /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:72:89: required from ‘typename Eigen::internal::rotation_base_generic_product_selector<Derived, OtherDerived, OtherDerived:: IsVectorAtCompileTime>::ReturnType Eigen::RotationBase<Derived, _Dim>::operator*(const Eigen::EigenBase<OtherDerived>&) const [with OtherDerived = Eigen::Matrix<float, 3, 1>; Derived = Eigen::AngleAxis<double>; int _Dim = 3; typename Eigen::internal::rotation_base_generic_product_selector<Derived, OtherDerived, OtherDerived:: IsVectorAtCompileTime>::ReturnType = Eigen::Matrix<double, 3, 1>]’ /home/baiyang/src/fcl/test/narrowphase/detail/convexity_based_algorithm/test_gjk_libccd-inl_epa.cpp:242:40: required from here /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:70:17: error: no members matching ‘Eigen::MatrixBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >::Base {aka Eigen::DenseBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >}::derived’ in ‘Eigen::MatrixBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >::Base {aka class Eigen::DenseBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >}’ using Base::derived; ^ /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:71:17: error: no members matching ‘Eigen::MatrixBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >::Base {aka Eigen::DenseBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >}::const_cast_derived’ in ‘Eigen::MatrixBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >::Base {aka class Eigen::DenseBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >}’ using Base::const_cast_derived; ^ /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:72:17: error: no members matching ‘Eigen::MatrixBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >::Base {aka Eigen::DenseBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >}::rows’ in ‘Eigen::MatrixBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >::Base {aka class Eigen::DenseBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >}’ using Base::rows; ^ /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:73:17: error: no members matching ‘Eigen::MatrixBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >::Base {aka Eigen::DenseBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >}::cols’ in ‘Eigen::MatrixBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >::Base {aka class Eigen::DenseBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >}’ using Base::cols; ^ /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:74:17: error: no members matching ‘Eigen::MatrixBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >::Base {aka Eigen::DenseBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >}::size’ in ‘Eigen::MatrixBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >::Base {aka class Eigen::DenseBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >}’ using Base::size; ^ /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:75:17: error: no members matching ‘Eigen::MatrixBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >::Base {aka Eigen::DenseBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >}::coeff’ in ‘Eigen::MatrixBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >::Base {aka class Eigen::DenseBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >}’ using Base::coeff; ^ /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:76:17: error: no members matching ‘Eigen::MatrixBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >::Base {aka Eigen::DenseBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >}::coeffRef’ in ‘Eigen::MatrixBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >::Base {aka class Eigen::DenseBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >}’ using Base::coeffRef; ^ /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:78:17: error: no members matching ‘Eigen::MatrixBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >::Base {aka Eigen::DenseBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >}::eval’ in ‘Eigen::MatrixBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >::Base {aka class Eigen::DenseBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >}’ using Base::eval; ^ /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:81:25: error: no members matching ‘Eigen::MatrixBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >::Base {aka Eigen::DenseBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >}::operator*=’ in ‘Eigen::MatrixBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >::Base {aka class Eigen::DenseBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >}’ using Base::operator*=; ^ /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:82:25: error: no members matching ‘Eigen::MatrixBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >::Base {aka Eigen::DenseBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >}::operator/=’ in ‘Eigen::MatrixBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >::Base {aka class Eigen::DenseBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >}’ using Base::operator/=; ^ /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:83:25: error: no members matching ‘Eigen::MatrixBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >::Base {aka Eigen::DenseBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >}::operator*’ in ‘Eigen::MatrixBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >::Base {aka class Eigen::DenseBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >}’ using Base::operator*; ^ /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:84:25: error: no members matching ‘Eigen::MatrixBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >::Base {aka Eigen::DenseBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >}::operator/’ in ‘Eigen::MatrixBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >::Base {aka class Eigen::DenseBase<Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0> >}’ using Base::operator/; ^ In file included from /usr/include/eigen3/Eigen/Core:348:0, from /usr/include/eigen3/Eigen/Dense:1, from /home/baiyang/src/fcl/include/fcl/common/types.h:46, from /home/baiyang/src/fcl/include/fcl/math/bv/AABB.h:41, from /home/baiyang/src/fcl/include/fcl/geometry/collision_geometry.h:43, from /home/baiyang/src/fcl/include/fcl/geometry/shape/shape_base.h:41, from /home/baiyang/src/fcl/include/fcl/geometry/shape/box.h:41, from /home/baiyang/src/fcl/include/fcl/narrowphase/detail/convexity_based_algorithm/gjk_libccd.h:47, from /home/baiyang/src/fcl/include/fcl/narrowphase/detail/convexity_based_algorithm/gjk_libccd-inl.h:41, from /home/baiyang/src/fcl/test/narrowphase/detail/convexity_based_algorithm/test_gjk_libccd-inl_epa.cpp:42: /usr/include/eigen3/Eigen/src/Core/Product.h: In instantiation of ‘class Eigen::ProductImpl<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0, Eigen::Dense>’: /usr/include/eigen3/Eigen/src/Core/Product.h:107:7: required from ‘class Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0>’ /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:94:33: required from ‘Eigen::RotationBase<Derived, _Dim>::VectorType Eigen::RotationBase<Derived, _Dim>::_transformVector(const OtherVectorType&) const [with OtherVectorType = Eigen::Matrix<float, 3, 1>; Derived = Eigen::AngleAxis<double>; int _Dim = 3; Eigen::RotationBase<Derived, _Dim>::VectorType = Eigen::Matrix<double, 3, 1>; typename Eigen::internal::traits<T>::Scalar = double]’ /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:128:32: required from ‘static Eigen::internal::rotation_base_generic_product_selector<RotationDerived, OtherVectorType, true>::ReturnType Eigen::internal::rotation_base_generic_product_selector<RotationDerived, OtherVectorType, true>::run(const RotationDerived&, const OtherVectorType&) [with RotationDerived = Eigen::AngleAxis<double>; OtherVectorType = Eigen::Matrix<float, 3, 1>; Eigen::internal::rotation_base_generic_product_selector<RotationDerived, OtherVectorType, true>::ReturnType = Eigen::Matrix<double, 3, 1>; typename RotationDerived::Scalar = double]’ /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:72:89: required from ‘typename Eigen::internal::rotation_base_generic_product_selector<Derived, OtherDerived, OtherDerived:: IsVectorAtCompileTime>::ReturnType Eigen::RotationBase<Derived, _Dim>::operator*(const Eigen::EigenBase<OtherDerived>&) const [with OtherDerived = Eigen::Matrix<float, 3, 1>; Derived = Eigen::AngleAxis<double>; int _Dim = 3; typename Eigen::internal::rotation_base_generic_product_selector<Derived, OtherDerived, OtherDerived:: IsVectorAtCompileTime>::ReturnType = Eigen::Matrix<double, 3, 1>]’ /home/baiyang/src/fcl/test/narrowphase/detail/convexity_based_algorithm/test_gjk_libccd-inl_epa.cpp:242:40: required from here /usr/include/eigen3/Eigen/src/Core/Product.h:191:776: error: no members matching ‘Eigen::ProductImpl<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0, Eigen::Dense>::Base {aka Eigen::internal::dense_product_base<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0, 3>}::derived’ in ‘Eigen::ProductImpl<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0, Eigen::Dense>::Base {aka class Eigen::internal::dense_product_base<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0, 3>}’ /usr/include/eigen3/Eigen/src/Core/Product.h:191:797: error: no members matching ‘Eigen::ProductImpl<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0, Eigen::Dense>::Base {aka Eigen::internal::dense_product_base<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0, 3>}::const_cast_derived’ in ‘Eigen::ProductImpl<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0, Eigen::Dense>::Base {aka class Eigen::internal::dense_product_base<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0, 3>}’ In file included from /usr/include/eigen3/Eigen/Core:348:0, from /usr/include/eigen3/Eigen/Dense:1, from /home/baiyang/src/fcl/include/fcl/common/types.h:46, from /home/baiyang/src/fcl/include/fcl/math/bv/AABB.h:41, from /home/baiyang/src/fcl/include/fcl/geometry/collision_geometry.h:43, from /home/baiyang/src/fcl/include/fcl/geometry/shape/shape_base.h:41, from /home/baiyang/src/fcl/include/fcl/geometry/shape/box.h:41, from /home/baiyang/src/fcl/include/fcl/narrowphase/detail/convexity_based_algorithm/gjk_libccd.h:47, from /home/baiyang/src/fcl/include/fcl/narrowphase/detail/convexity_based_algorithm/gjk_libccd-inl.h:41, from /home/baiyang/src/fcl/test/narrowphase/detail/convexity_based_algorithm/test_gjk_libccd-inl_epa.cpp:42: /usr/include/eigen3/Eigen/src/Core/Product.h: In instantiation of ‘class Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0>’: /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:94:33: required from ‘Eigen::RotationBase<Derived, _Dim>::VectorType Eigen::RotationBase<Derived, _Dim>::_transformVector(const OtherVectorType&) const [with OtherVectorType = Eigen::Matrix<float, 3, 1>; Derived = Eigen::AngleAxis<double>; int _Dim = 3; Eigen::RotationBase<Derived, _Dim>::VectorType = Eigen::Matrix<double, 3, 1>; typename Eigen::internal::traits<T>::Scalar = double]’ /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:128:32: required from ‘static Eigen::internal::rotation_base_generic_product_selector<RotationDerived, OtherVectorType, true>::ReturnType Eigen::internal::rotation_base_generic_product_selector<RotationDerived, OtherVectorType, true>::run(const RotationDerived&, const OtherVectorType&) [with RotationDerived = Eigen::AngleAxis<double>; OtherVectorType = Eigen::Matrix<float, 3, 1>; Eigen::internal::rotation_base_generic_product_selector<RotationDerived, OtherVectorType, true>::ReturnType = Eigen::Matrix<double, 3, 1>; typename RotationDerived::Scalar = double]’ /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:72:89: required from ‘typename Eigen::internal::rotation_base_generic_product_selector<Derived, OtherDerived, OtherDerived:: IsVectorAtCompileTime>::ReturnType Eigen::RotationBase<Derived, _Dim>::operator*(const Eigen::EigenBase<OtherDerived>&) const [with OtherDerived = Eigen::Matrix<float, 3, 1>; Derived = Eigen::AngleAxis<double>; int _Dim = 3; typename Eigen::internal::rotation_base_generic_product_selector<Derived, OtherDerived, OtherDerived:: IsVectorAtCompileTime>::ReturnType = Eigen::Matrix<double, 3, 1>]’ /home/baiyang/src/fcl/test/narrowphase/detail/convexity_based_algorithm/test_gjk_libccd-inl_epa.cpp:242:40: required from here /usr/include/eigen3/Eigen/src/Core/Product.h:122:776: error: no members matching ‘Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0>::Base {aka Eigen::internal::dense_product_base<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0, 3>}::derived’ in ‘Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0>::Base {aka class Eigen::internal::dense_product_base<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0, 3>}’ /usr/include/eigen3/Eigen/src/Core/Product.h:122:797: error: no members matching ‘Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0>::Base {aka Eigen::internal::dense_product_base<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0, 3>}::const_cast_derived’ in ‘Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0>::Base {aka class Eigen::internal::dense_product_base<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0, 3>}’ In file included from /usr/include/eigen3/Eigen/Geometry:40:0, from /usr/include/eigen3/Eigen/Dense:6, from /home/baiyang/src/fcl/include/fcl/common/types.h:46, from /home/baiyang/src/fcl/include/fcl/math/bv/AABB.h:41, from /home/baiyang/src/fcl/include/fcl/geometry/collision_geometry.h:43, from /home/baiyang/src/fcl/include/fcl/geometry/shape/shape_base.h:41, from /home/baiyang/src/fcl/include/fcl/geometry/shape/box.h:41, from /home/baiyang/src/fcl/include/fcl/narrowphase/detail/convexity_based_algorithm/gjk_libccd.h:47, from /home/baiyang/src/fcl/include/fcl/narrowphase/detail/convexity_based_algorithm/gjk_libccd-inl.h:41, from /home/baiyang/src/fcl/test/narrowphase/detail/convexity_based_algorithm/test_gjk_libccd-inl_epa.cpp:42: /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h: In instantiation of ‘Eigen::RotationBase<Derived, _Dim>::VectorType Eigen::RotationBase<Derived, _Dim>::_transformVector(const OtherVectorType&) const [with OtherVectorType = Eigen::Matrix<float, 3, 1>; Derived = Eigen::AngleAxis<double>; int _Dim = 3; Eigen::RotationBase<Derived, _Dim>::VectorType = Eigen::Matrix<double, 3, 1>; typename Eigen::internal::traits<T>::Scalar = double]’: /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:128:32: required from ‘static Eigen::internal::rotation_base_generic_product_selector<RotationDerived, OtherVectorType, true>::ReturnType Eigen::internal::rotation_base_generic_product_selector<RotationDerived, OtherVectorType, true>::run(const RotationDerived&, const OtherVectorType&) [with RotationDerived = Eigen::AngleAxis<double>; OtherVectorType = Eigen::Matrix<float, 3, 1>; Eigen::internal::rotation_base_generic_product_selector<RotationDerived, OtherVectorType, true>::ReturnType = Eigen::Matrix<double, 3, 1>; typename RotationDerived::Scalar = double]’ /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:72:89: required from ‘typename Eigen::internal::rotation_base_generic_product_selector<Derived, OtherDerived, OtherDerived:: IsVectorAtCompileTime>::ReturnType Eigen::RotationBase<Derived, _Dim>::operator*(const Eigen::EigenBase<OtherDerived>&) const [with OtherDerived = Eigen::Matrix<float, 3, 1>; Derived = Eigen::AngleAxis<double>; int _Dim = 3; typename Eigen::internal::rotation_base_generic_product_selector<Derived, OtherDerived, OtherDerived:: IsVectorAtCompileTime>::ReturnType = Eigen::Matrix<double, 3, 1>]’ /home/baiyang/src/fcl/test/narrowphase/detail/convexity_based_algorithm/test_gjk_libccd-inl_epa.cpp:242:40: required from here /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:94:35: error: could not convert ‘((Eigen::MatrixBase<Eigen::Matrix<double, 3, 3> >*)(& Eigen::RotationBase<Derived, _Dim>::toRotationMatrix() const [with Derived = Eigen::AngleAxis<double>; int _Dim = 3; Eigen::RotationBase<Derived, _Dim>::RotationMatrixType = Eigen::Matrix<double, 3, 3>; typename Eigen::internal::traits<T>::Scalar = double]()))->Eigen::MatrixBase<Derived>::operator*<Eigen::Matrix<float, 3, 1> >((*(const Eigen::MatrixBase<Eigen::Matrix<float, 3, 1> >*)(& v)))’ from ‘const Eigen::Product<Eigen::Matrix<double, 3, 3>, Eigen::Matrix<float, 3, 1>, 0>’ to ‘Eigen::RotationBase<Eigen::AngleAxis<double>, 3>::VectorType {aka Eigen::Matrix<double, 3, 1>}’ { return toRotationMatrix() * v; } ^ In file included from /usr/include/eigen3/Eigen/Core:350:0, from /usr/include/eigen3/Eigen/Dense:1, from /home/baiyang/src/fcl/include/fcl/common/types.h:46, from /home/baiyang/src/fcl/include/fcl/math/bv/AABB.h:41, from /home/baiyang/src/fcl/include/fcl/geometry/collision_geometry.h:43, from /home/baiyang/src/fcl/include/fcl/geometry/shape/shape_base.h:41, from /home/baiyang/src/fcl/include/fcl/geometry/shape/box.h:41, from /home/baiyang/src/fcl/include/fcl/narrowphase/detail/convexity_based_algorithm/gjk_libccd.h:47, from /home/baiyang/src/fcl/include/fcl/narrowphase/detail/convexity_based_algorithm/gjk_libccd-inl.h:41, from /home/baiyang/src/fcl/test/narrowphase/detail/convexity_based_algorithm/test_gjk_libccd-inl_epa.cpp:42: /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h: In instantiation of ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Matrix<float, 3, 1>; Src = Eigen::Matrix<double, 3, 1>; Func = Eigen::internal::assign_op<float>]’: /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:712:27: required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename Eigen::internal::enable_if<(! Eigen::internal::evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Matrix<float, 3, 1>; Src = Eigen::Matrix<double, 3, 1>; Func = Eigen::internal::assign_op<float>; typename Eigen::internal::enable_if<(! Eigen::internal::evaluator_assume_aliasing<Src>::value), void*>::type = void*]’ /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:693:18: required from ‘void Eigen::internal::call_assignment(Dst&, const Src&) [with Dst = Eigen::Matrix<float, 3, 1>; Src = Eigen::Matrix<double, 3, 1>]’ /usr/include/eigen3/Eigen/src/Core/PlainObjectBase.h:682:32: required from ‘Derived& Eigen::PlainObjectBase<Derived>::_set(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Matrix<double, 3, 1>; Derived = Eigen::Matrix<float, 3, 1>]’ /usr/include/eigen3/Eigen/src/Core/Matrix.h:225:24: required from ‘Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::operator=(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Matrix<double, 3, 1>; _Scalar = float; int _Rows = 3; int _Cols = 1; int _Options = 0; int _MaxRows = 3; int _MaxCols = 1]’ /home/baiyang/src/fcl/test/narrowphase/detail/convexity_based_algorithm/test_gjk_libccd-inl_epa.cpp:242:17: required from here /usr/include/eigen3/Eigen/src/Core/AssignEvaluator.h:745:3: error: static assertion failed: YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY EIGEN_CHECK_BINARY_COMPATIBILIY(Func,typename ActualDstTypeCleaned::Scalar,typename Src::Scalar); ^ test/narrowphase/detail/convexity_based_algorithm/CMakeFiles/test_gjk_libccd-inl_epa.dir/build.make:62: recipe for target 'test/narrowphase/detail/convexity_based_algorithm/CMakeFiles/test_gjk_libccd-inl_epa.dir/test_gjk_libccd-inl_epa.cpp.o' failed make[2]: *** [test/narrowphase/detail/convexity_based_algorithm/CMakeFiles/test_gjk_libccd-inl_epa.dir/test_gjk_libccd-inl_epa.cpp.o] Error 1 CMakeFiles/Makefile2:1701: recipe for target 'test/narrowphase/detail/convexity_based_algorithm/CMakeFiles/test_gjk_libccd-inl_epa.dir/all' failed make[1]: *** [test/narrowphase/detail/convexity_based_algorithm/CMakeFiles/test_gjk_libccd-inl_epa.dir/all] Error 2 Makefile:138: recipe for target 'all' failed make: *** [all] Error 2

[yiyongrobotics]

The same problem as mine, until now don´t know how to solve.

[BreederBai]

I think there may be a difference in the compiler version, which causes a compilation error, but I don't know which version of the compiler can be compiled. This is very frustrating.

[BreederBai]

@gouyiyong I found a solution. After the version is rolled back, the compilation will pass. Please execute the following command.

git checkout 0.5.0 # use FCL 0.5.0

[BreederBai]

@gouyiyong Sorry, after reverting to version 0.5.0, fcl has been compiled, but it will be reported when compiling OctomaoPlanner. If you want to compile OctomapPlanner, you need to roll back to '9d25b5'.

[hongkai-dai]

Sorry for the belated reply. I was travelling this week, and just got back.

I compiled the code on a Ubuntu 18.04 machine with gcc 7.3. I cannot reproduce your error. Is it OK if you could try to apply this patch, and let me know how it works?

diff --git a/test/narrowphase/detail/convexity_based_algorithm/test_gjk_libccd-inl_epa.cpp b/test/narrowphase/detail/convexity_based_algorithm/test_gjk_libccd-inl_epa.cpp
index a9ee781..248bfb7 100644
--- a/test/narrowphase/detail/convexity_based_algorithm/test_gjk_libccd-inl_epa.cpp
+++ b/test/narrowphase/detail/convexity_based_algorithm/test_gjk_libccd-inl_epa.cpp
@@ -237,7 +237,8 @@ GTEST_TEST(FCL_GJK_EPA, faceNormalPointingOutwardOriginNearFace1) {
   vertices[1] << 0, 1, face0_origin_distance;
   vertices[2] << -0.5, -0.5, face0_origin_distance;
   vertices[3] << 0, 0, -1;
-  Eigen::AngleAxisd rotation(0.05 * M_PI, Eigen::Vector3d::UnitX());
+  Eigen::AngleAxis<ccd_real_t> rotation(0.05 * M_PI,
+                                        Vector3<ccd_real_t>::UnitX());
   for (int i = 0; i < 4; ++i) {
     vertices[i] = rotation * vertices[i];
   }
@@ -1378,8 +1379,8 @@ void TestSimplexToPolytope3InGivenFrame(const Transform3<S>& X_WF) {
   // Now make sure non_simplex_vertex has the largest support
   // p_B1V1 are the position of the box 1 vertices in box1 frame B1.
   // p_B2V1 are the position of the box 2 vertices in box2 frame B2.
-  const Eigen::Vector3d box1_size{2, 2, 2};
-  const Eigen::Vector3d box2_size{1, 1, 2};
+  const Vector3<S> box1_size{2, 2, 2};
+  const Vector3<S> box2_size{1, 1, 2};
   Eigen::Matrix<S, 3, 8> p_B1V1, p_B2V2;
   p_B1V1 << -1, -1, -1, -1, 1, 1, 1, 1, -1, -1, 1, 1, -1, -1, 1, 1, -1, 1, -1,
       1, -1, 1, -1, 1;

[hongkai-dai]

BTW, 0.5.0 will compile, but it has an implementation error when computing the penetration depth, resolved in a recent commit ef223df

[BreederBai]

@hongkai-dai I am using ubuntu 16.04 and the GCC version is 5.4. Through your description, I think that because I use the older GCC version, it will cause compilation errors.

[hongkai-dai]

@BreederBai I compiled fcl on ubuntu 16 with gcc 5 or 6. Unfortunately I didn't see that error.

Does the patch in comment #349 (comment) fix your compilation problem? If it does, I will submit a PR to FCL to fix it in the upstream.

[BreederBai]

@hongkai-dai After I entered the following command, I get the following error. I am not sure if there is a problem with the command I entered.

baiyang@baiyang-E450:~/src/fcl$ diff --git a/test/narrowphase/detail/convexity_based_algorithm/test_gjk_libccd-inl_epa.cpp b/test/narrowphase/detail/convexity_based_algorithm/test_gjk_libccd-inl_epa.cpp
diff: 未知的选项 `--git'
diff: Try 'diff --help' for more information.

Can I speak Chinese? My English is very poor, and my communication in English is very inefficient.

[hongkai-dai]

@BreederBai Your English is good, don't worry. Sure we can speak Chinese if you find it more convenient.

想麻烦你能不能测试一下#349 (comment) 里的补丁？ 这样做就可以了

1. check out FCL最新的版本 $ git checkout master
2. 打开你最喜欢的编辑器，打开 test/narrowphase/detail/convexity_based_algorithm/test_gjk_libccd-inl_epa.cpp这个文件，将第237行改为

   Eigen::AngleAxis<ccd_real_t> rotation(0.05 * M_PI, Vector3<ccd_real_t>::UnitX());

3. 编译FCL

   $ cd build
   $ cmake ..
   $ make
   

如果不再看到#349 (comment) 中提到的编译错误，那么我会发送一个pull request, 修改FCL的源代码。

多谢！

[sherm1]

@hongkai-dai your superpowers are amazing!

[BreederBai]

@hongkai-dai 你好,我按照你所说的修改,编译通过了.十分感谢!