Make error (no match for ‘operator[]’, remove_const_t is not a member of std, compiler too old)

[Hartvi]

I'm sorry if an issue for this exists, but I haven't been able to find it. Also I haven't worked with libraries in C++ that much, sorry if this seems trivial.
I have installed eigen3 and libccd and now I want to install fcl.

These are the commands I used:

git clone git@gitlab.com:libeigen/eigen.git
cd eigen
mkdir build
cd build
cmake ..
sudo make install
cd ../..
git clone git@github.com:danfis/libccd.git
cd libccd/src
make
sudo make install
cd ../..
git clone git@github.com:flexible-collision-library/fcl.git
cd fcl
mkdir build
cd build
cmake ..
make >out.txt 2>&1

The compiler throws an error in the make step.

I have gcc9, which means it should support C++14, which eigen seems to need.

gcc --version

gcc (Ubuntu 9.4.0-1ubuntu1~20.04.1) 9.4.0
Copyright (C) 2019 Free Software Foundation, Inc.
This is free software; see the source for copying conditions.  There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.

.../fcl/build$ cmake ..

-- The CXX compiler identification is GNU 9.4.0
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Set RPATH explicitly to '/usr/local/lib'
-- Performing Test _compiler_supports_sse
-- Performing Test _compiler_supports_sse - Success
-- Checking for one of the modules 'ccd;libccd'
-- Checking for module 'octomap'
--   No package 'octomap' found
-- FCL does not use OctoMap
-- Performing Test COMPILER_SUPPORTS_VISIBILITY
-- Performing Test COMPILER_SUPPORTS_VISIBILITY - Success
-- Performing Test COMPILER_HAS_HIDDEN_VISIBILITY
-- Performing Test COMPILER_HAS_HIDDEN_VISIBILITY - Success
-- Performing Test COMPILER_HAS_HIDDEN_INLINE_VISIBILITY
-- Performing Test COMPILER_HAS_HIDDEN_INLINE_VISIBILITY - Success
-- Performing Test COMPILER_HAS_DEPRECATED_ATTR
-- Performing Test COMPILER_HAS_DEPRECATED_ATTR - Success
-- The C compiler identification is GNU 9.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Found Python: /usr/bin/python3.8 (found version "3.8.10") found components: Interpreter 
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD
-- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Failed
-- 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  
-- Configuring done
-- Generating done
-- Build files have been written to: /home/hartvi/Documents/CVUT/diploma_thesis/fcl/build

And in the make step it says this:

make >out.txt 2>&1

[  0%] Building CXX object src/CMakeFiles/fcl.dir/broadphase/broadphase_SSaP.cpp.o
In file included from /usr/local/include/eigen3/Eigen/Core:19,
                 from /usr/local/include/eigen3/Eigen/Dense:1,
                 from /home/hartvi/Documents/CVUT/diploma_thesis/fcl/include/fcl/common/types.h:46,
                 from /home/hartvi/Documents/CVUT/diploma_thesis/fcl/include/fcl/math/bv/AABB.h:41,
                 from /home/hartvi/Documents/CVUT/diploma_thesis/fcl/include/fcl/geometry/collision_geometry.h:43,
                 from /home/hartvi/Documents/CVUT/diploma_thesis/fcl/include/fcl/narrowphase/collision_object.h:43,
                 from /home/hartvi/Documents/CVUT/diploma_thesis/fcl/include/fcl/broadphase/broadphase_collision_manager.h:44,
                 from /home/hartvi/Documents/CVUT/diploma_thesis/fcl/include/fcl/broadphase/broadphase_SSaP.h:42,
                 from /home/hartvi/Documents/CVUT/diploma_thesis/fcl/include/fcl/broadphase/broadphase_SSaP-inl.h:41,
                 from /home/hartvi/Documents/CVUT/diploma_thesis/fcl/src/broadphase/broadphase_SSaP.cpp:38:
/usr/local/include/eigen3/Eigen/src/Core/util/Macros.h:711:2: error: #error This compiler appears to be too old to be supported by Eigen
  711 | #error This compiler appears to be too old to be supported by Eigen
      |  ^~~~~
In file included from /usr/local/include/eigen3/Eigen/Core:169,
                 from /usr/local/include/eigen3/Eigen/Dense:1,
                 from /home/hartvi/Documents/CVUT/diploma_thesis/fcl/include/fcl/common/types.h:46,
                 from /home/hartvi/Documents/CVUT/diploma_thesis/fcl/include/fcl/math/bv/AABB.h:41,
                 from /home/hartvi/Documents/CVUT/diploma_thesis/fcl/include/fcl/geometry/collision_geometry.h:43,
                 from /home/hartvi/Documents/CVUT/diploma_thesis/fcl/include/fcl/narrowphase/collision_object.h:43,
                 from /home/hartvi/Documents/CVUT/diploma_thesis/fcl/include/fcl/broadphase/broadphase_collision_manager.h:44,
                 from /home/hartvi/Documents/CVUT/diploma_thesis/fcl/include/fcl/broadphase/broadphase_SSaP.h:42,
                 from /home/hartvi/Documents/CVUT/diploma_thesis/fcl/include/fcl/broadphase/broadphase_SSaP-inl.h:41,
                 from /home/hartvi/Documents/CVUT/diploma_thesis/fcl/src/broadphase/broadphase_SSaP.cpp:38:
/usr/local/include/eigen3/Eigen/src/Core/util/Meta.h:143:37: error: ‘remove_const_t’ is not a member of ‘std’; did you mean ‘remove_const’?
  143 | struct is_void : is_same<void, std::remove_const_t<T>> {};
      |                                     ^~~~~~~~~~~~~~
      |                                     remove_const
/usr/local/include/eigen3/Eigen/src/Core/util/Meta.h:143:37: error: ‘remove_const_t’ is not a member of ‘std’; did you mean ‘remove_const’?
  143 | struct is_void : is_same<void, std::remove_const_t<T>> {};
      |                                     ^~~~~~~~~~~~~~
      |                                     remove_const

and so on for 10000 lines.

[velecto1]

Hi,

I think there is some incompatibility with the newest Eigen. Try it with Eigen 3.3.7.

But if you find another solution, please tell me! (I have to use Eigen 3.4 anyway.)

[velecto1]

I have tweaked the Meta.h header of Eigen to show the value of the __cplusplus macro. Indeed, it is 201103L, meaning the C++11 standard.

So why does it think (or why is it being complied) with C++11???

Consolidate compiler generated dependencies of target fcl
[  0%] Building CXX object src/CMakeFiles/fcl.dir/broadphase/broadphase_SSaP.cpp.o
In file included from /home/tomtom/git/eigen-git/eigen/Eigen/Core:19,
                 from /home/tomtom/git/eigen-git/eigen/Eigen/Dense:1,
                 from /home/tomtom/Downloads/fcl/include/fcl/common/types.h:46,
                 from /home/tomtom/Downloads/fcl/include/fcl/math/bv/AABB.h:41,
                 from /home/tomtom/Downloads/fcl/include/fcl/geometry/collision_geometry.h:43,
                 from /home/tomtom/Downloads/fcl/include/fcl/narrowphase/collision_object.h:43,
                 from /home/tomtom/Downloads/fcl/include/fcl/broadphase/broadphase_collision_manager.h:44,
                 from /home/tomtom/Downloads/fcl/include/fcl/broadphase/broadphase_SSaP.h:42,
                 from /home/tomtom/Downloads/fcl/include/fcl/broadphase/broadphase_SSaP-inl.h:41,
                 from /home/tomtom/Downloads/fcl/src/broadphase/broadphase_SSaP.cpp:38:
/home/tomtom/git/eigen-git/eigen/Eigen/src/Core/util/Macros.h:718:2: error: #error This compiler appears to be too old to be supported by Eigen
  718 | #error This compiler appears to be too old to be supported by Eigen
      |  ^~~~~
/home/tomtom/git/eigen-git/eigen/Eigen/src/Core/util/Macros.h:679:46: note: ‘#pragma message: The value of __cplusplus: 201103L’
  679 | #pragma message "The value of __cplusplus: " XSTR(__cplusplus)
      |                                              ^~~~

[velecto1]

Got it!

One line of the CMake-generated file fcl/build/src/CMakeFiles/fcl.dir/flags.make is very telling:

CXX_FLAGS = -O3 -DNDEBUG -fPIC -std=c++11 -W -Wall -Wextra -Wpedantic -fPIC -fvisibility=hidden -mfpmath=sse -msse -msse2 -msse3 -mssse3

The issue is solved by pull request #563.

After adding a few includes (#include <cassert>), i.e., solving yet another issue, everything should be fine ;)

You can check my fork: https://github.com/velecto1/fcl