build error: no known conversion from ‘VectorWrapper<const double>’ to ‘const std::vector<double>&’

[morxa]

The current master (108a9d812b1a32fa657cf336b3f8dd298803c497) fails to build on Fedora 26 with the following error (subsequent run to only have relevant messages):

[  0%] Built target openrave-md5-native
[  2%] Built target cpp-gen-md5-native
[  3%] Built target interfacehashes_target
[  4%] Built target openrave-md5
[  5%] Built target ivcon
[ 10%] Built target qhull
[ 14%] Built target convexdecomposition
[ 15%] Built target check_libm_accuracy-native
[ 24%] Built target libopenrave
[ 29%] Built target libopenrave-core
[ 30%] Built target openrave
[ 31%] Built target libopenrave_c
[ 32%] Built target libopenrave-core_c
[ 32%] Built target orcreate_octave
[ 32%] Built target orread_octave
[ 33%] Built target orwrite_octave
[ 38%] Built target locale
[ 39%] Built target pyANN_int
[ 40%] Built target convexdecompositionpy
[ 49%] Built target openravepy_int
[ 51%] Built target basecontrollers
[ 53%] Built target baserobots
[ 54%] Built target basesamplers
[ 55%] Built target basesensors
[ 57%] Built target configurationcache
[ 58%] Built target openravepy_configurationcache
[ 59%] Built target dualmanipulation
[ 61%] Built target grasper
[ 67%] Built target ikfastsolvers
[ 68%] Built target logging
[ 70%] Built target PQP
[ 71%] Built target pqprave
[ 74%] Built target rmanipulation
[ 77%] Built target ParabolicPathSmooth
[ 79%] Built target rampoptimizer
[ 79%] Building CXX object plugins/rplanners/CMakeFiles/rplanners.dir/rplanners.cpp.o
In file included from /usr/include/c++/7/x86_64-redhat-linux/bits/c++allocator.h:33:0,
                 from /usr/include/c++/7/bits/allocator.h:46,
                 from /usr/include/c++/7/string:41,
                 from /home/thofmann/code/openrave/include/openrave/openrave.h:55,
                 from /home/thofmann/code/openrave/plugins/include/openraveplugindefs.h:20,
                 from /home/thofmann/code/openrave/plugins/rplanners/rplanners.cpp:17:
/usr/include/c++/7/ext/new_allocator.h: In instantiation of ‘class __gnu_cxx::new_allocator<const double>’:
/usr/include/c++/7/bits/allocator.h:108:11:   required from ‘class std::allocator<const double>’
/usr/include/c++/7/bits/stl_vector.h:81:14:   required from ‘struct std::_Vector_base<const double, std::allocator<const double> >::_Vector_impl’
/usr/include/c++/7/bits/stl_vector.h:166:20:   required from ‘struct std::_Vector_base<const double, std::allocator<const double> >’
/usr/include/c++/7/bits/stl_vector.h:216:11:   required from ‘class std::vector<const double, std::allocator<const double> >’
/home/thofmann/code/openrave/plugins/rplanners/rplanners.h:37:7:   required from ‘class VectorWrapper<const double>’
/home/thofmann/code/openrave/plugins/rplanners/rplanners.h:217:124:   required from here
/usr/include/c++/7/ext/new_allocator.h:93:7: error: ‘const _Tp* __gnu_cxx::new_allocator<_Tp>::address(__gnu_cxx::new_allocator<_Tp>::const_reference) const [with _Tp = const double; __gnu_cxx::new_allocator<_Tp>::const_pointer = const double*; __gnu_cxx::new_allocator<_Tp>::const_reference = const double&]’ cannot be overloaded
       address(const_reference __x) const _GLIBCXX_NOEXCEPT
       ^~~~~~~
/usr/include/c++/7/ext/new_allocator.h:89:7: error: with ‘_Tp* __gnu_cxx::new_allocator<_Tp>::address(__gnu_cxx::new_allocator<_Tp>::reference) const [with _Tp = const double; __gnu_cxx::new_allocator<_Tp>::pointer = const double*; __gnu_cxx::new_allocator<_Tp>::reference = const double&]’
       address(reference __x) const _GLIBCXX_NOEXCEPT
       ^~~~~~~
In file included from /home/thofmann/code/openrave/plugins/rplanners/rrt.h:19:0,
                 from /home/thofmann/code/openrave/plugins/rplanners/rplanners.cpp:18:
/home/thofmann/code/openrave/plugins/rplanners/rplanners.h: In instantiation of ‘class VectorWrapper<const double>’:
/home/thofmann/code/openrave/plugins/rplanners/rplanners.h:217:124:   required from here
/home/thofmann/code/openrave/plugins/rplanners/rplanners.h:51:5: error: ‘VectorWrapper<T>::VectorWrapper(const T*, const T*) [with T = const double]’ cannot be overloaded
     VectorWrapper(const T* sourceArray, const T* sourceArrayEnd)
     ^~~~~~~~~~~~~
/home/thofmann/code/openrave/plugins/rplanners/rplanners.h:44:5: error: with ‘VectorWrapper<T>::VectorWrapper(T*, T*) [with T = const double]’
     VectorWrapper(T* sourceArray, T* sourceArrayEnd)
     ^~~~~~~~~~~~~
/home/thofmann/code/openrave/plugins/rplanners/rplanners.h: In member function ‘OpenRAVE::dReal SpatialTree<Node>::_ComputeDistance(const dReal*, const dReal*) const’:
/home/thofmann/code/openrave/plugins/rplanners/rplanners.h:217:124: error: no match for call to ‘(const boost::function<double(const std::vector<double>&, const std::vector<double>&)>) (VectorWrapper<const double>, VectorWrapper<double>)’
         return _distmetricfn(VectorWrapper<const dReal>(config0, config0+_dof), VectorWrapper<dReal>(config1, config1+_dof));
                                                                                                                            ^
In file included from /usr/include/boost/function/detail/maybe_include.hpp:23:0,
                 from /usr/include/boost/function/detail/function_iterate.hpp:14,
                 from /usr/include/boost/preprocessor/iteration/detail/iter/forward1.hpp:57,
                 from /usr/include/boost/function.hpp:64,
                 from /home/thofmann/code/openrave/include/openrave/openrave.h:71,
                 from /home/thofmann/code/openrave/plugins/include/openraveplugindefs.h:20,
                 from /home/thofmann/code/openrave/plugins/rplanners/rplanners.cpp:17:
/usr/include/boost/function/function_template.hpp:765:17: note: candidate: boost::function2<R, T1, T2>::result_type boost::function2<R, T1, T2>::operator()(T0, T1) const [with R = double; T0 = const std::vector<double>&; T1 = const std::vector<double>&; boost::function2<R, T1, T2>::result_type = double]
     result_type operator()(BOOST_FUNCTION_PARMS) const
                 ^~~~~~~~
/usr/include/boost/function/function_template.hpp:765:17: note:   no known conversion for argument 1 from ‘VectorWrapper<const double>’ to ‘const std::vector<double>&’
In file included from /home/thofmann/code/openrave/plugins/rplanners/rplanners.cpp:18:0:
/home/thofmann/code/openrave/plugins/rplanners/rrt.h: In member function ‘virtual bool BirrtPlanner::InitPlan(OpenRAVE::RobotBasePtr, OpenRAVE::PlannerBase::PlannerParametersConstPtr)’:
/home/thofmann/code/openrave/plugins/rplanners/rrt.h:333:25: warning: unused variable ‘ret’ [-Wunused-variable]
                     int ret = _parameters->CheckPathAllConstraints(vgoal,vgoal,std::vector<dReal>(), std::vector<dReal>(), 0, IT_OpenStart);
                         ^~~
/home/thofmann/code/openrave/plugins/rplanners/rrt.h: In member function ‘virtual OpenRAVE::PlannerStatus BasicRrtPlanner::PlanPath(OpenRAVE::TrajectoryBasePtr)’:
/home/thofmann/code/openrave/plugins/rplanners/rrt.h:832:43: warning: comparison between signed and unsigned integer expressions [-Wsign-compare]
                         if( numfoundgoals >= _parameters->_minimumgoalpaths ) {
                             ~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
make[2]: *** [plugins/rplanners/CMakeFiles/rplanners.dir/build.make:303: plugins/rplanners/CMakeFiles/rplanners.dir/rplanners.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:1967: plugins/rplanners/CMakeFiles/rplanners.dir/all] Error 2
make: *** [Makefile:130: all] Error 2

cmake output:

-- The C compiler identification is GNU 7.2.1
-- The CXX compiler identification is GNU 7.2.1
-- Check for working C compiler: /usr/lib64/ccache/cc
-- Check for working C compiler: /usr/lib64/ccache/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/lib64/ccache/c++
-- Check for working CXX compiler: /usr/lib64/ccache/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Compiling OpenRAVE Version 0.9.0, soversion=0.9
-- Using cmake version 3.9.1
-- Using double precision
-- detected system processor: x86_64
-- Found PkgConfig: /usr/bin/pkg-config (found version "1.3.9") 
-- Found PythonInterp: /usr/bin/python (found version "2.7.13") 
-- Found PythonLibs: /usr/lib64/libpython2.7.so (found suitable version "2.7.13", minimum required is "2") 
-- installing to /usr/local, python exe /usr/bin/python, python subdir is lib64/python2.7/site-packages, program suffix is '0.9'
-- Performing Test LINKER_HAS_RDYNAMIC
-- Performing Test LINKER_HAS_RDYNAMIC - Success
-- Performing Test LINKER_HAS_BSYMBOLIC
-- Performing Test LINKER_HAS_BSYMBOLIC - Success
-- Performing Test LINKER_HAS_BSYMBOLIC_FUNCTIONS
-- Performing Test LINKER_HAS_BSYMBOLIC_FUNCTIONS - Success
-- Performing Test LINKER_HAS_VISIBILITY
-- Performing Test LINKER_HAS_VISIBILITY - Success
-- Performing Test LINKER_HAS_VISIBILITY_INLINES_HIDDEN
-- Performing Test LINKER_HAS_VISIBILITY_INLINES_HIDDEN - Success
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE  
-- Boost version: 1.63.0
-- Found the following Boost libraries:
--   regex
--   filesystem
--   system
--   python
--   thread
--   iostreams
--   date_time
--   chrono
--   atomic
-- found boost version: 106300
-- Targetting Unix Makefiles
-- Using /usr/lib64/ccache/c++ compiler.
-- Found GMP: /usr/lib64/libgmp.so
-- Found GMPXX: /usr/lib64/libgmpxx.so
-- Found MPFR: /usr/lib64/libmpfr.so
-- Looking for mpfr_div_d in /usr/lib64/libmpfr.so
-- Looking for mpfr_div_d in /usr/lib64/libmpfr.so - found
-- Found MPFI: /usr/lib64/libmpfi.so
-- Looking for crlibm_init in crlibm
-- Looking for crlibm_init in crlibm - found
-- Looking for crlibm.h
-- Looking for crlibm.h - found
-- assimp version 3.3.1, , /usr/include
-- Performing Test IS_ASSIMP_PRE_R896
-- Performing Test IS_ASSIMP_PRE_R896 - Failed
-- Performing Test IS_X86_64
-- Performing Test IS_X86_64 - Success
-- Looking for clock_gettime in rt
-- Looking for clock_gettime in rt - found
-- WARNING: you are using the obsolete 'PKGCONFIG' macro, use FindPkgConfig
-- Found LibXml2: /usr/lib64/libxml2.so
-- libxml2 found
-- Looking for Q_WS_X11
-- Looking for Q_WS_X11 - found
-- Looking for Q_WS_WIN
-- Looking for Q_WS_WIN - not found
-- Looking for Q_WS_QWS
-- Looking for Q_WS_QWS - not found
-- Looking for Q_WS_MAC
-- Looking for Q_WS_MAC - not found
-- Found Qt4: /usr/bin/qmake-qt4 (found version "4.8.7") 
-- Checking for module 'libpcrecpp'
--   Found libpcrecpp, version 8.41
-- Looking for C++ include pcrecpp.h
-- Looking for C++ include pcrecpp.h - found
-- collada version 2.4.4 does not support write to memory
-- Found ZLIB: /usr/lib64/libz.so (found version "1.2.11") 
-- Checking for module 'minizip'
--   Found minizip, version 1.2.11
-- Looking for qh_new_qhull in qhull
-- Looking for qh_new_qhull in qhull - found
-- Looking for qhull/qhull_a.h
-- Looking for qhull/qhull_a.h - not found
-- compiling local qhull library
-- Looking for C++ include ANN/ANN.h
-- Looking for C++ include ANN/ANN.h - found
-- Looking for _Z8annClosev in ANN
-- Looking for _Z8annClosev in ANN - found
-- Checking for one of the modules 'fparser'
-- using fparser from pkg-config, cflags: , link flags: -lfparser
-- Checking for module 'liblog4cxx'
--   Found liblog4cxx, version 0.10.0
-- compiling local convexdecomposition library
-- Looking for C++ include ext/hash_map
-- Looking for C++ include ext/hash_map - found
-- Looking for asinh
-- Looking for asinh - not found
-- Looking for acosh
-- Looking for acosh - not found
-- Looking for atanh
-- Looking for atanh - not found
-- Looking for exp2
-- Looking for exp2 - not found
-- Looking for log2
-- Looking for log2 - not found
-- Looking for fenv.h
-- Looking for fenv.h - found
-- Looking for mkstemp
-- Looking for mkstemp - found
-- Geometry Parsing: Collada DOM 2.4.4
-- Geometry Parsing: Using Open Asset Import Library 3.3.1
-- Geometry Parsing: Using ivcon
-- extracting models to /home/thofmann/code/openrave/src
-- Looking for _init in lapack
-- Looking for _init in lapack - found
-- MATLAB installation not found, is mex in the system path?
-- Found sympy version '1.1.1'
-- Assuming sympy version 0.7.x or greater
-- Performing Test HAVE_ALL_PYTHON_HEADERS
-- Performing Test HAVE_ALL_PYTHON_HEADERS - Success
-- python and boost-python found
-- Looking for cgesdd_ in lapack
-- Looking for cgesdd_ in lapack - found
-- Checking for module 'bullet'
--   Found bullet, version 2.83
-- unsupported bullet version 2.83
-- FindMoby: Could not find EventDrivenSimulator.h
-- Could not find Moby Physics engine. Please install from https://github.com/PositronicsLab/Moby 
-- Checking for modules 'libavformat;libavcodec'
--   Found libavformat, version 57.71.100
--   Found libavcodec, version 57.89.100
-- enabling FFMPEG support
-- Checking for module 'libswscale'
--   Found libswscale, version 4.6.100
-- Looking for libswscale/swscale.h
-- Looking for libswscale/swscale.h - found
-- Looking for libavformat/avformat.h
-- Looking for libavformat/avformat.h - found
-- Looking for libavcodec/avcodec.h
-- Looking for libavcodec/avcodec.h - found
-- Looking for ffmpeg/avformat.h
-- Looking for ffmpeg/avformat.h - not found
-- Looking for ffmpeg/avcodec.h
-- Looking for ffmpeg/avcodec.h - not found
-- Performing Test HAS_AVMEDIA_TYPE_VIDEO
-- Performing Test HAS_AVMEDIA_TYPE_VIDEO - Success
-- boost regex found
-- Found OpenGL: /usr/lib64/libGL.so  
-- Found osgDB: /usr/lib64/libosgDB.so  
-- Found osgQt: /usr/lib64/libosgQt.so  
-- Found osgGA: /usr/lib64/libosgGA.so  
-- Found osgFX: /usr/lib64/libosgFX.so  
-- Found osgText: /usr/lib64/libosgText.so  
-- Found osgViewer: /usr/lib64/libosgViewer.so  
-- Found osgManipulator: /usr/lib64/libosgManipulator.so  
-- Found osg: /usr/lib64/libosg.so  
-- Found OpenThreads: /usr/lib64/libOpenThreads.so  
-- Found OpenSceneGraph: /usr/lib64/libosgDB.so;/usr/lib64/libosgQt.so;/usr/lib64/libosgGA.so;/usr/lib64/libosgFX.so;/usr/lib64/libosgText.so;/usr/lib64/libosgViewer.so;/usr/lib64/libosgManipulator.so;/usr/lib64/libosg.so;/usr/lib64/libOpenThreads.so (found suitable version "3.4.0", minimum required is "3.4") 
-- Detected Qt/OSG GUI, making plugin
-- QT dirs: /usr/include OPENGL: /usr/include/QtOpenGL
-- Looking for X11/Xlib.h
-- Looking for X11/Xlib.h - found
-- Link libraries: /usr/lib64/libQtDeclarative.so;/usr/lib64/libQtGui.so;/usr/lib64/libQtCore.so;/usr/lib64/libxml2.so;/usr/lib64/libQtOpenGL.so;/usr/lib64/libGLU.so;/usr/lib64/libGL.so;/usr/lib64/libosgDB.so;/usr/lib64/libosgQt.so;/usr/lib64/libosgGA.so;/usr/lib64/libosgFX.so;/usr/lib64/libosgText.so;/usr/lib64/libosgViewer.so;/usr/lib64/libosgManipulator.so;/usr/lib64/libosg.so;/usr/lib64/libOpenThreads.so
-- Detected SoQt/Coin3D GUI, making plugin
-- Looking for dAllocateODEDataForThread
-- Looking for dAllocateODEDataForThread - found
-- Detected ODE multi-threading extensions, but not sure if should enable them... define ODE_USE_MULTITHREAD variable to use them
-- Performing Test NEED_TRIINDEX
-- Performing Test NEED_TRIINDEX - Failed
-- ODE found, building oderave plugin, precision=SINGLE
-- Checking for module 'fcl'
--   Found fcl, version 0.5.0
-- Performing Test FCL_HAS_REPLACEOBJECT
-- Performing Test FCL_HAS_REPLACEOBJECT - Failed
-- Performing Test FCL_SUPPORT_BULK_UPDATE
-- Performing Test FCL_SUPPORT_BULK_UPDATE - Failed
-- Configuring done
CMake Warning (dev) at python/bindings/CMakeLists.txt:66 (add_dependencies):
  Policy CMP0046 is not set: Error on non-existent dependency in
  add_dependencies.  Run "cmake --help-policy CMP0046" for policy details.
  Use the cmake_policy command to set the policy and suppress this warning.

  The dependency target "ANN" of target "pyANN_int" does not exist.
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Generating done
-- Build files have been written to: /home/thofmann/code/openrave/build

This is on Fedora 26 with GCC 7.2.1 20170915 (Red Hat 7.2.1-2) without any patches or custom build flags.

[morxa]

The same error occurs with the 0.9.0 release. See the attached cmake.log and
build.log.

I have the following relevant packages installed:

Installed Packages
OpenSceneGraph-devel.x86_64 3.4.0-9.fc26
OpenSceneGraph-qt-devel.x86_64 3.4.0-9.fc26
SoQt-devel.x86_64 1.5.0-21.fc26
ann-devel.x86_64 1.1.2-9.fc26
assimp-devel.x86_64 3.3.1-8.fc26
boost-devel.x86_64 1.63.0-9.fc26
boost-python.x86_64 1.63.0-9.fc26
bullet-devel.x86_64 2.83-3.fc26
cmake.x86_64 3.9.1-1.fc26
collada-dom-devel.x86_64 2.4.4-6.fc26
crlibm-devel.x86_64 1.0-0.14.beta4.fc26
dos2unix.x86_64 7.3.4-2.fc26
doxygen.x86_64 1:1.8.13-9.fc26
fparser-devel.x86_64 4.5.2-5.fc26
gettext.x86_64 0.19.8.1-9.fc26
gmp-devel.x86_64 1:6.1.2-4.fc26
graphviz.x86_64 2.40.1-4.fc26
lapack-devel.x86_64 3.6.1-4.fc26
libxml2-devel.x86_64 2.9.4-2.fc26
minizip-devel.x86_64 1.2.11-2.fc26
mpfi-devel.x86_64 1.5.1-10.fc26
mpfr-devel.x86_64 3.1.5-3.fc26
octave-devel.x86_64 6:4.2.1-3.fc26
ode-devel.x86_64 0.14-4.fc26
pcre-devel.x86_64 8.41-1.fc26
python2-devel.x86_64 2.7.13-12.fc26
qhull-devel.x86_64 2015.2-2.fc26
sympy.noarch 1.1.1-1.fc26

[rdiankov]

thanks for the heads up. just pushed a fixed to master.