Error when building the code

[bhung-bdai]

Description

When I run the build process exactly as listed in the Quickstart, I get the following results:

/path/to/navigation/LieGroupEKF.h:98:46: error: incomplete type ‘gtsam::traits<Eigen::Matrix<double, -1, -1> >’ used in nested name specifier
   98 |         const Matrix nextX = traits<Matrix>::Retract(this->X_, xi * dt, A ? &Dexp : nullptr); // just addition
      |                                              ^~~~~~~
make[2]: *** [examples/CMakeFiles/IEKF_NavstateExample.dir/build.make:76: examples/CMakeFiles/IEKF_NavstateExample.dir/IEKF_NavstateExample.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:24572: examples/CMakeFiles/IEKF_NavstateExample.dir/all] Error 2
make: *** [Makefile:166: all] Error 2

Steps to reproduce

1. Run the quickstart installation instructions on the latest branch of develop

Expected behavior

The build should succeed.

Environment

1. gcc version 11.4
2. boost 1.7.4
3. cmake 3.22.1

Additional information

Not using system Eigen, using the GTSAM bundled one

[NguyenXP24]

I have the same problems. Did you solve it?

[bhung-bdai]

My solution was to steal a CI wheel that passed CI and rename the build package/metadata to gtsam. Not my finest moment but it worked for now until this issue is resolved

[varunagrawal]

I put in a fix in #2138. After that is merged, please try again with the latest develop branch.

[dellaert]

Sorry - I closed that PR and will add it to the Gal3 PR coming shortly.
I am puzzled as I don't understand how our CI passes but you still have this error.

[dellaert]

Adding @mkielo3 for visibility

[dellaert]

Thanks @varunagrawal for the fix!

[varunagrawal]

The CI passes because we don't compile the examples. This only shows up when compiling examples which indicates a deficiency in some test (which is easily addressed :) )

Sorry for the PR tangent. I was trying to compile the examples myself for my work when I encountered this.

[dellaert]

Ah, we should at least have one CI that compiles the examples :-/
And the include should be in that example, not in the LieGroupEKF.
I will do this.

[bhung-bdai]

Thanks all! Appreciate the speedy response. Shall I close the issue @dellaert or wait for you to handle the example CI compilation?

[dellaert]

Will close automatically when PR merges…