请问一下你们的eigen3用的是哪个版本？我使用3.3.7报错

[wangml71]

[ 85%] Building CXX object quadruped/CMakeFiles/quadruped.dir/src/robots/qr_robot_aliengo_sim.cpp.o
In file included from /usr/include/eigen3/Eigen/Geometry:42,
from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/utils/qr_se3.h:32,
from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/dynamics/spatial.hpp:13,
from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/dynamics/floating_base_model.hpp:22,
from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/controllers/wbc/task_set/qr_task.hpp:28,
from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/controllers/wbc/task_set/qr_task_body_position.hpp:28,
from /home/gst/quadruped-robot/model-control/src/quadruped/src/controllers/wbc/task_set/qr_task_body_position.cpp:25:
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:187:48: error: ISO C++ forbids declaration of ‘EIGEN_DEFAULT_COPY_CONSTRUCTOR’ with no type [-fpermissive]
187 | EIGEN_DEFAULT_COPY_CONSTRUCTOR(QuaternionBase)
| ^
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:187:48: error: expected ‘;’ at end of member declaration
187 | EIGEN_DEFAULT_COPY_CONSTRUCTOR(QuaternionBase)
| ^
| ;
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:188:64: error: ISO C++ forbids declaration of ‘EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR’ with no type [-fpermissive]
188 | EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(QuaternionBase)
| ^
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:188:64: error: expected ‘;’ at end of member declaration
188 | EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(QuaternionBase)
| ^
| ;
In file included from /usr/include/eigen3/Eigen/Geometry:42,
from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/utils/qr_se3.h:32,
from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/dynamics/spatial.hpp:13,
from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/dynamics/floating_base_model.hpp:22,
from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/controllers/wbc/qr_single_contact.hpp:28,
from /home/gst/quadruped-robot/model-control/src/quadruped/src/controllers/wbc/qr_single_contact.cpp:25:
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:187:48: error: ISO C++ forbids declaration of ‘EIGEN_DEFAULT_COPY_CONSTRUCTOR’ with no type [-fpermissive]
187 | EIGEN_DEFAULT_COPY_CONSTRUCTOR(QuaternionBase)
| ^
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:187:48: error: expected ‘;’ at end of member declaration
187 | EIGEN_DEFAULT_COPY_CONSTRUCTOR(QuaternionBase)
| ^
| ;
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:188:64: error: ISO C++ forbids declaration of ‘EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR’ with no type [-fpermissive]
188 | EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(QuaternionBase)
| ^
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:188:64: error: expected ‘;’ at end of member declaration
188 | EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(QuaternionBase)
| ^
| ;
In file included from /usr/include/eigen3/Eigen/Geometry:42,
from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/utils/qr_se3.h:32,
from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/dynamics/spatial.hpp:13,
from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/dynamics/floating_base_model.hpp:22,
from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/controllers/wbc/task_set/qr_task.hpp:28,
from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/controllers/wbc/task_set/qr_task_link_position.hpp:28,
from /home/gst/quadruped-robot/model-control/src/quadruped/src/controllers/wbc/task_set/qr_task_link_position.cpp:25:
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:187:48: error: ISO C++ forbids declaration of ‘EIGEN_DEFAULT_COPY_CONSTRUCTOR’ with no type [-fpermissive]
187 | EIGEN_DEFAULT_COPY_CONSTRUCTOR(QuaternionBase)
| ^
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:187:48: error: expected ‘;’ at end of member declaration
187 | EIGEN_DEFAULT_COPY_CONSTRUCTOR(QuaternionBase)
| ^
| ;
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:188:64: error: ISO C++ forbids declaration of ‘EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR’ with no type [-fpermissive]
188 | EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(QuaternionBase)
| ^
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:188:64: error: expected ‘;’ at end of member declaration
188 | EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(QuaternionBase)
| ^
| ;
In file included from /usr/include/eigen3/Eigen/Geometry:42,
from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/utils/qr_se3.h:32,
from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/dynamics/spatial.hpp:13,
from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/dynamics/floating_base_model.hpp:22,
from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/controllers/wbc/task_set/qr_task.hpp:28,
from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/controllers/wbc/task_set/qr_task_body_orientation.hpp:28,
from /home/gst/quadruped-robot/model-control/src/quadruped/src/controllers/wbc/task_set/qr_task_body_orientation.cpp:25:
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:187:48: error: ISO C++ forbids declaration of ‘EIGEN_DEFAULT_COPY_CONSTRUCTOR’ with no type [-fpermissive]
187 | EIGEN_DEFAULT_COPY_CONSTRUCTOR(QuaternionBase)
| ^
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:187:48: error: expected ‘;’ at end of member declaration
187 | EIGEN_DEFAULT_COPY_CONSTRUCTOR(QuaternionBase)
| ^
| ;
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:188:64: error: ISO C++ forbids declaration of ‘EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR’ with no type [-fpermissive]
188 | EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(QuaternionBase)
| ^
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:188:64: error: expected ‘;’ at end of member declaration
188 | EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(QuaternionBase)
| ^
| ;
In file included from /usr/include/eigen3/Eigen/Geometry:42,
from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/utils/qr_se3.h:32,
from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/dynamics/spatial.hpp:13,
from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/dynamics/floating_base_model.hpp:22,
from /home/gst/quadruped-robot/model-control/src/quadruped/src/dynamics/floating_base_model.cpp:19:
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:187:48: error: ISO C++ forbids declaration of ‘EIGEN_DEFAULT_COPY_CONSTRUCTOR’ with no type [-fpermissive]
187 | EIGEN_DEFAULT_COPY_CONSTRUCTOR(QuaternionBase)
| ^
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:187:48: error: expected ‘;’ at end of member declaration
187 | EIGEN_DEFAULT_COPY_CONSTRUCTOR(QuaternionBase)
| ^
| ;
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:188:64: error: ISO C++ forbids declaration of ‘EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR’ with no type [-fpermissive]
188 | EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(QuaternionBase)
| ^
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:188:64: error: expected ‘;’ at end of member declaration
188 | EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(QuaternionBase)
| ^
| ;
In file included from /usr/include/eigen3/Eigen/Geometry:42,
from /usr/include/eigen3/Eigen/Dense:6,
from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/utils/qr_cpptypes.h:33,
from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/utils/qr_algebra.h:31,
from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/utils/qr_geometry.h:32,
from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/controllers/qr_state_dataflow.h:31,
from /home/gst/quadruped-robot/model-control/src/quadruped/src/controllers/qr_state_dataflow.cpp:25:
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:187:48: error: ISO C++ forbids declaration of ‘EIGEN_DEFAULT_COPY_CONSTRUCTOR’ with no type [-fpermissive]
187 | EIGEN_DEFAULT_COPY_CONSTRUCTOR(QuaternionBase)
| ^
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:187:48: error: expected ‘;’ at end of member declaration
187 | EIGEN_DEFAULT_COPY_CONSTRUCTOR(QuaternionBase)
| ^
| ;
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:188:64: error: ISO C++ forbids declaration of ‘EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR’ with no type [-fpermissive]
188 | EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(QuaternionBase)
| ^
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:188:64: error: expected ‘;’ at end of member declaration
188 | EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(QuaternionBase)
| ^
| ;
[ 86%] Building CXX object quadruped/CMakeFiles/quadruped.dir/src/robots/qr_robot_sim.cpp.o
make[2]: *** [quadruped/CMakeFiles/quadruped.dir/build.make:244：quadruped/CMakeFiles/quadruped.dir/src/controllers/wbc/qr_single_contact.cpp.o] 错误 1
make[2]: *** 正在等待未完成的任务....
make[2]: *** [quadruped/CMakeFiles/quadruped.dir/build.make:314：quadruped/CMakeFiles/quadruped.dir/src/controllers/wbc/task_set/qr_task_link_position.cpp.o] 错误 1
make[2]: *** [quadruped/CMakeFiles/quadruped.dir/build.make:300：quadruped/CMakeFiles/quadruped.dir/src/controllers/wbc/task_set/qr_task_body_position.cpp.o] 错误 1
make[2]: *** [quadruped/CMakeFiles/quadruped.dir/build.make:286：quadruped/CMakeFiles/quadruped.dir/src/controllers/wbc/task_set/qr_task_body_orientation.cpp.o] 错误 1
make[2]: *** [quadruped/CMakeFiles/quadruped.dir/build.make:202：quadruped/CMakeFiles/quadruped.dir/src/controllers/qr_state_dataflow.cpp.o] 错误 1
In file included from /usr/include/eigen3/Eigen/Geometry:42,
from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/utils/qr_se3.h:32,
from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/dynamics/spatial.hpp:13,
from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/dynamics/floating_base_model.hpp:22,
from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/controllers/wbc/qr_single_contact.hpp:28,
from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/controllers/wbc/qr_multitask_projection.hpp:28,
from /home/gst/quadruped-robot/model-control/src/quadruped/src/controllers/wbc/qr_multitask_projection.cpp:25:
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:187:48: error: ISO C++ forbids declaration of ‘EIGEN_DEFAULT_COPY_CONSTRUCTOR’ with no type [-fpermissive]
187 | EIGEN_DEFAULT_COPY_CONSTRUCTOR(QuaternionBase)
| ^
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:187:48: error: expected ‘;’ at end of member declaration
187 | EIGEN_DEFAULT_COPY_CONSTRUCTOR(QuaternionBase)
| ^
| ;
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:188:64: error: ISO C++ forbids declaration of ‘EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR’ with no type [-fpermissive]
188 | EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(QuaternionBase)
| ^
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:188:64: error: expected ‘;’ at end of member declaration
188 | EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(QuaternionBase)
| ^
| ;
In file included from /usr/include/eigen3/Eigen/Geometry:42,
from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/utils/qr_se3.h:32,
from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/dynamics/spatial.hpp:13,
from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/dynamics/floating_base_model.hpp:22,
from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/controllers/wbc/qr_single_contact.hpp:28,
from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/controllers/wbc/qr_wholebody_impulse_ctrl.hpp:31,
from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/controllers/wbc/qr_wbc_locomotion_controller.hpp:28,
from /home/gst/quadruped-robot/model-control/src/quadruped/src/controllers/wbc/qr_wbc_locomotion_controller.cpp:25:
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:187:48: error: ISO C++ forbids declaration of ‘EIGEN_DEFAULT_COPY_CONSTRUCTOR’ with no type [-fpermissive]
187 | EIGEN_DEFAULT_COPY_CONSTRUCTOR(QuaternionBase)
| ^
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:187:48: error: expected ‘;’ at end of member declaration
187 | EIGEN_DEFAULT_COPY_CONSTRUCTOR(QuaternionBase)
| ^
| ;
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:188:64: error: ISO C++ forbids declaration of ‘EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR’ with no type [-fpermissive]
188 | EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(QuaternionBase)
| ^
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:188:64: error: expected ‘;’ at end of member declaration
188 | EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(QuaternionBase)
| ^
| ;
In file included from /usr/include/eigen3/Eigen/Geometry:42,
from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/utils/qr_se3.h:32,
from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/dynamics/spatial.hpp:13,
from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/dynamics/floating_base_model.hpp:22,
from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/controllers/wbc/qr_single_contact.hpp:28,
from /home/gst/quadruped-robot/model-control/src/quadruped/include/quadruped/controllers/wbc/qr_wholebody_impulse_ctrl.hpp:31,
from /home/gst/quadruped-robot/model-control/src/quadruped/src/controllers/wbc/qr_wholebody_impulse_ctrl.cpp:25:
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:187:48: error: ISO C++ forbids declaration of ‘EIGEN_DEFAULT_COPY_CONSTRUCTOR’ with no type [-fpermissive]
187 | EIGEN_DEFAULT_COPY_CONSTRUCTOR(QuaternionBase)
| ^
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:187:48: error: expected ‘;’ at end of member declaration
187 | EIGEN_DEFAULT_COPY_CONSTRUCTOR(QuaternionBase)
| ^
| ;
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:188:64: error: ISO C++ forbids declaration of ‘EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR’ with no type [-fpermissive]
188 | EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(QuaternionBase)
| ^
/usr/include/eigen3/Eigen/src/Geometry/Quaternion.h:188:64: error: expected ‘;’ at end of member declaration
188 | EIGEN_DEFAULT_EMPTY_CONSTRUCTOR_AND_DESTRUCTOR(QuaternionBase)
| ^
| ;
make[2]: *** [quadruped/CMakeFiles/quadruped.dir/build.make:258：quadruped/CMakeFiles/quadruped.dir/src/controllers/wbc/qr_wbc_locomotion_controller.cpp.o] 错误 1
/home/gst/quadruped-robot/model-control/src/quadruped/src/fsm/qr_fsm_state_locomotion.cpp: In member function ‘virtual void qrFSMStateLocomotion::Run()’:
/home/gst/quadruped-robot/model-control/src/quadruped/src/fsm/qr_fsm_state_locomotion.cpp:136:10: warning: structured bindings only available with ‘-std=c++17’ or ‘-std=gnu++17’
136 | auto [hybridAction, qpSol] = locomotionController->GetAction();
| ^
/home/gst/quadruped-robot/model-control/src/quadruped/src/fsm/qr_fsm_state_locomotion.cpp: In member function ‘bool qrFSMStateLocomotion::SwitchMode()’:
/home/gst/quadruped-robot/model-control/src/quadruped/src/fsm/qr_fsm_state_locomotion.cpp:294:14: warning: structured bindings only available with ‘-std=c++17’ or ‘-std=gnu++17’
294 | auto [hybridAction, qpSol] = locomotionController->GetAction();
| ^
/home/gst/quadruped-robot/model-control/src/quadruped/src/fsm/qr_fsm_state_locomotion.cpp: In member function ‘bool qrFSMStateLocomotion::StandLoop()’:
/home/gst/quadruped-robot/model-control/src/quadruped/src/fsm/qr_fsm_state_locomotion.cpp:333:14: warning: structured bindings only available with ‘-std=c++17’ or ‘-std=gnu++17’
333 | auto [hybridAction, qpSol] = locomotionController->GetAction();
| ^
make[2]: *** [quadruped/CMakeFiles/quadruped.dir/build.make:230：quadruped/CMakeFiles/quadruped.dir/src/controllers/wbc/qr_multitask_projection.cpp.o] 错误 1
make[2]: *** [quadruped/CMakeFiles/quadruped.dir/build.make:272：quadruped/CMakeFiles/quadruped.dir/src/controllers/wbc/qr_wholebody_impulse_ctrl.cpp.o] 错误 1
make[2]: *** [quadruped/CMakeFiles/quadruped.dir/build.make:328：quadruped/CMakeFiles/quadruped.dir/src/dynamics/floating_base_model.cpp.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:2868：quadruped/CMakeFiles/quadruped.dir/all] 错误 2
make: *** [Makefile:146：all] 错误 2
Invoking "make -j28 -l28" failed