Build error of project “01_Statics\06_Tendon_Robot_Variants\Cpp_3\Tendon_Displacement_Control”

[xlsufo]

Hi John,
I have read your paper "Real-time dynamics of soft and continuum robots based on Cosserat rod models", it's a very nice job. I am very happy to learn your code.

There is a Build error when I buid the project “01_Statics\06_Tendon_Robot_Variants\Cpp_3\Tendon_Displacement_Control”:
:-1: error: dependent '..\..\..\Library\eigen\Eigen\src\Core\products\GeneralBlockPanelKernel.h' does not exist.

The project "01_Statics\05_Tendon_Robot" dosen't have this problem, I think it's strange.

The project "02_Dynamics\03_Tendon_Robot" also have a problem that the Final sum of squares is so big and solution failed. I'm confused. I don't know what's wrong.

Could you help me?

Thanks,
Lisong

[JohnDTill]

I can't replicate the compile error with the tendon displacement control. That file does exist, maybe check if it exists in your installation?

The dynamic tendon robot example runs just fine with mingw, but fails with MSVC2019. That would tend to make me think there is UB (undefined behaviour) somewhere in the code, but I'll look into it.

[JohnDTill]

Yes, it was an uninitialized value because the ODE function sets variables used in the derivative calculation, and the ODE function was not being called at the last grid point. This has been corrected. Thanks for raising the issue!

Let me know what you find about the include file error.

Thanks,
John

[xlsufo]

Hi John,
I have solved the second question for the project "02_Dynamics\03_Tendon_Robot". When I use "Debug" model, the error has occurred，it can be solved to use "Release" model.

I have tested two environment： MSVC2019+QT5.15.2 & MSVC2017+QT5.12.2 ， The result is the same.

As for the error：
:-1: error: dependent '..\..\..\Library\eigen\Eigen\src\Core\products\GeneralBlockPanelKernel.h' does not exist.
I copy the main.cpp of "Tendon_Displacement_Control" to cover the main.cpp of "01_Statics\05_Tendon_Robot", the error disappeared. I guess it may be the problem of the project file or path.

Thanks,
Lisong

[xlsufo]

Hi John,
I'll test the latest changes later.
Thanks,
Lisong

[JohnDTill]

Well you should pull the latest version of the repo- the UB can cause issues even if they don't result in an obvious failure. Not sure why the relative path wasn't working in the original folder; they are both nested 3 levels from the base directory.

[xlsufo]

All the problems have been solved，thanks for your help. I use "git clone" to get the code, the first problem is gone.

The project "02_Dynamics\03_Tendon_Robot" also works well in "Debug" model now, but it's still not as fast as “Release” model due to some inherent properties.

I will do some related research,I will study your work seriously！

[JohnDTill]

Good! Thanks again for pointing out the issue, Lisong. I hope the research goes well and feel free to reach out if you have questions.

-John