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C++标准库深度探索:std::enable_if和std::is_convertible背后的Type Traits

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发布时间: 2024-10-21 02:02:59 阅读量: 92 订阅数: 21
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common_type:std 的实现

![C++标准库深度探索:std::enable_if和std::is_convertible背后的Type Traits](https://img-blog.csdnimg.cn/353158bb5859491dab8b4f2a04e11afd.png) # 1. Type Traits的基本概念与C++标准库 C++的Type Traits是C++标准库中的一部分,是模板元编程的基础工具。Type Traits在C++编程中用于在编译期间获取类型的属性,例如类型大小、是否为函数指针等等。这些信息可以用来改善编译时的决策过程,从而使编译器能够在编译阶段进行更有效的优化。 Type Traits的使用可以使得模板编程更加的灵活和强大,它允许开发者编写出更泛型的代码,使得这些代码能够适用于更多种类的类型。例如,可以编写一个模板函数,仅当给定类型T支持某种特定操作时,该函数才会被实例化,否则编译时会报错。 本章将从Type Traits的基本概念讲起,逐步深入到如何在C++标准库中使用Type Traits,以及它们在提升程序性能上的重要作用。理解Type Traits的工作原理和使用方法,是掌握C++高级编程技能的关键一步。 # 2. std::enable_if的理论与实践 ## 2.1 std::enable_if的理论基础 ### 2.1.1 SFINAE原则 SFINAE(Substitution Failure Is Not An Error)是模板元编程中的一个重要原则。该原则指出,在模板实例化过程中,如果替换模板参数导致了某些表达式的失效,并且该失效并非出现在模板定义中的要求必须有效的表达式范围内,那么这种替换失败不是错误。 在实际应用中,SFINAE允许编译器在尝试替换模板参数失败时,忽略错误的重载版本,而不会导致编译失败,进而能够选择其他合适的重载版本。这种机制极大地扩展了C++模板的功能,使得基于类型特性的重载决议成为可能。 ### 2.1.2 std::enable_if的工作原理 std::enable_if是C++标准库中的一个工具,它利用SFINAE原则来控制函数模板是否参与重载决议。std::enable_if通常与编译时条件判断结合使用,控制条件满足时模板函数的实例化和参与重载决议,而条件不满足时则忽略该函数模板。 std::enable_if的声明如下所示: ```cpp template <bool B, class T = void> struct enable_if {}; template <class T> struct enable_if<true, T> { typedef T type; }; ``` 当`B`为`true`时,`enable_if`会产生一个名为`type`的类型成员,这使得`enable_if`能够参与类型依赖的操作,如模板函数的返回类型推导。而当`B`为`false`时,`enable_if`没有`type`成员,因此在模板函数的返回类型推导时被忽略。 ## 2.2 std::enable_if的使用场景 ### 2.2.1 重载决议中的应用 在某些情况下,我们希望根据特定的类型特性来选择重载函数。借助`std::enable_if`,可以为满足特定条件的类型提供特定的函数实现,而不满足条件的类型则不会实例化该函数。 例如,下面的代码展示了如何使用`std::enable_if`来区分整数类型和浮点数类型,实现不同的函数重载: ```cpp #include <iostream> #include <type_traits> template<typename T> typename std::enable_if<std::is_integral<T>::value, void>::type printIntegral(const T &t) { std::cout << "Integral: " << t << std::endl; } template<typename T> typename std::enable_if<std::is_floating_point<T>::value, void>::type printFloating(const T &t) { std::cout << "Floating: " << t << std::endl; } int main() { int n = 5; double d = 3.14; printIntegral(n); // 调用printIntegral<int> printFloating(d); // 调用printFloating<double> return 0; } ``` ### 2.2.2 模板元编程的高级技巧 std::enable_if还可以用于实现更复杂的模板元编程技巧。例如,可以在编译时基于类型特性选择不同的数据结构或算法路径。下面的代码示例展示了如何根据类型是否具有某个特定成员函数来选择不同的策略: ```cpp #include <iostream> #include <type_traits> #include <vector> // 通用的函数模板 template<typename T, typename Enable = void> struct Strategy; // 特化版本,针对具有size()成员函数的类型 template<typename T> struct Strategy<T, typename std::enable_if<has_size<T>::value>::type> { static void execute(const T& t) { std::cout << "Using strategy with size() member function." << std::endl; } }; // 特化版本,针对不具有size()成员函数的类型 template<typename T> struct Strategy<T, typename std::enable_if<!has_size<T>::value>::type> { static void execute(const T& t) { std::cout << "Using fallback strategy." << std::endl; } }; // 辅助结构体,用于检测类型T是否有size()成员函数 template<typename T> struct has_size { private: template<typename U> static auto check(U* ptr) -> decltype(ptr->size(), std::true_type()); template<typename> static std::false_type check(...); public: static constexpr bool value = decltype(check<T>(nullptr))::value; }; int main() { std::vector<int> v; Strategy<std::vector<int>>::execute(v); // 输出: Using strategy with size() member function. Strategy<int>::execute(1); // 输出: Using fallback strategy. return 0; } ``` 通过这种方式,`std::enable_if`和类型特性结合使用,可以实现高度灵活和动态的模板编程技术,允许程序员在编译时做出更复杂的决策。 # 3. std::is_convertible的机制分析 ## 3.1 类型转换的内在机制 ### 3.1.1 C++中的类型转换 C++语言中的类型转换是编程中的一个重要概念。在C++中,类型转换可以分为显式和隐式两大类。显式转换是程序员通过特定的语法明确指出的类型转换,如使用类型转换运算符`static_cast`、`dynamic_cast`、`const_cast`、`reinterpret_c
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||=== Build file: "no target" in "no project" (compiler: unknown) ===| E:\C++\2\main.cpp||In function 'int main()':| E:\C++\2\main.cpp|11|error: no match for 'operator>>' (operand types are 'std::basic_istream<char>::__istream_type' {aka 'std::basic_istream<char>'} and '<unresolved overloaded function type>')| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|120|note: candidate: 'std::basic_istream<_CharT, _Traits>::__istream_type& std::basic_istream<_CharT, _Traits>::operator>>(std::basic_istream<_CharT, _Traits>::__istream_type& (*)(std::basic_istream<_CharT, _Traits>::__istream_type&)) [with _CharT = char; _Traits = std::char_traits<char>; std::basic_istream<_CharT, _Traits>::__istream_type = std::basic_istream<char>]'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|120|note: no known conversion for argument 1 from '<unresolved overloaded function type>' to 'std::basic_istream<char>::__istream_type& (*)(std::basic_istream<char>::__istream_type&)' {aka 'std::basic_istream<char>& (*)(std::basic_istream<char>&)'}| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|124|note: candidate: 'std::basic_istream<_CharT, _Traits>::__istream_type& std::basic_istream<_CharT, _Traits>::operator>>(std::basic_istream<_CharT, _Traits>::__ios_type& (*)(std::basic_istream<_CharT, _Traits>::__ios_type&)) [with _CharT = char; _Traits = std::char_traits<char>; std::basic_istream<_CharT, _Traits>::__istream_type = std::basic_istream<char>; std::basic_istream<_CharT, _Traits>::__ios_type = std::basic_ios<char>]'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|124|note: no known conversion for argument 1 from '<unresolved overloaded function type>' to 'std::basic_istream<char>::__ios_type& (*)(std::basic_istream<char>::__ios_type&)' {aka 'std::basic_ios<char>& (*)(std::basic_ios<char>&)'}| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|131|note: candidate: 'std::basic_istream<_CharT, _Traits>::__istream_type& std::basic_istream<_CharT, _Traits>::operator>>(std::ios_base& (*)(std::ios_base&)) [with _CharT = char; _Traits = std::char_traits<char>; std::basic_istream<_CharT, _Traits>::__istream_type = std::basic_istream<char>]'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|131|note: no known conversion for argument 1 from '<unresolved overloaded function type>' to 'std::ios_base& (*)(std::ios_base&)'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|168|note: candidate: 'std::basic_istream<_CharT, _Traits>::__istream_type& std::basic_istream<_CharT, _Traits>::operator>>(bool&) [with _CharT = char; _Traits = std::char_traits<char>; std::basic_istream<_CharT, _Traits>::__istream_type = std::basic_istream<char>]'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|168|note: no known conversion for argument 1 from '<unresolved overloaded function type>' to 'bool&'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|172|note: candidate: 'std::basic_istream<_CharT, _Traits>& std::basic_istream<_CharT, _Traits>::operator>>(short int&) [with _CharT = char; _Traits = std::char_traits<char>]'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|172|note: no known conversion for argument 1 from '<unresolved overloaded function type>' to 'short int&'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|175|note: candidate: 'std::basic_istream<_CharT, _Traits>::__istream_type& std::basic_istream<_CharT, _Traits>::operator>>(short unsigned int&) [with _CharT = char; _Traits = std::char_traits<char>; std::basic_istream<_CharT, _Traits>::__istream_type = std::basic_istream<char>]'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|175|note: no known conversion for argument 1 from '<unresolved overloaded function type>' to 'short unsigned int&'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|179|note: candidate: 'std::basic_istream<_CharT, _Traits>& std::basic_istream<_CharT, _Traits>::operator>>(int&) [with _CharT = char; _Traits = std::char_traits<char>]'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|179|note: no known conversion for argument 1 from '<unresolved overloaded function type>' to 'int&'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|182|note: candidate: 'std::basic_istream<_CharT, _Traits>::__istream_type& std::basic_istream<_CharT, _Traits>::operator>>(unsigned int&) [with _CharT = char; _Traits = std::char_traits<char>; std::basic_istream<_CharT, _Traits>::__istream_type = std::basic_istream<char>]'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|182|note: no known conversion for argument 1 from '<unresolved overloaded function type>' to 'unsigned int&'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|186|note: candidate: 'std::basic_istream<_CharT, _Traits>::__istream_type& std::basic_istream<_CharT, _Traits>::operator>>(long int&) [with _CharT = char; _Traits = std::char_traits<char>; std::basic_istream<_CharT, _Traits>::__istream_type = std::basic_istream<char>]'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|186|note: no known conversion for argument 1 from '<unresolved overloaded function type>' to 'long int&'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|190|note: candidate: 'std::basic_istream<_CharT, _Traits>::__istream_type& std::basic_istream<_CharT, _Traits>::operator>>(long unsigned int&) [with _CharT = char; _Traits = std::char_traits<char>; std::basic_istream<_CharT, _Traits>::__istream_type = std::basic_istream<char>]'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|190|note: no known conversion for argument 1 from '<unresolved overloaded function type>' to 'long unsigned int&'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|195|note: candidate: 'std::basic_istream<_CharT, _Traits>::__istream_type& std::basic_istream<_CharT, _Traits>::operator>>(long long int&) [with _CharT = char; _Traits = std::char_traits<char>; std::basic_istream<_CharT, _Traits>::__istream_type = std::basic_istream<char>]'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|195|note: no known conversion for argument 1 from '<unresolved overloaded function type>' to 'long long int&'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|199|note: candidate: 'std::basic_istream<_CharT, _Traits>::__istream_type& std::basic_istream<_CharT, _Traits>::operator>>(long long unsigned int&) [with _CharT = char; _Traits = std::char_traits<char>; std::basic_istream<_CharT, _Traits>::__istream_type = std::basic_istream<char>]'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|199|note: no known conversion for argument 1 from '<unresolved overloaded function type>' to 'long long unsigned int&'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|214|note: candidate: 'std::basic_istream<_CharT, _Traits>::__istream_type& std::basic_istream<_CharT, _Traits>::operator>>(float&) [with _CharT = char; _Traits = std::char_traits<char>; std::basic_istream<_CharT, _Traits>::__istream_type = std::basic_istream<char>]'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|214|note: no known conversion for argument 1 from '<unresolved overloaded function type>' to 'float&'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|218|note: candidate: 'std::basic_istream<_CharT, _Traits>::__istream_type& std::basic_istream<_CharT, _Traits>::operator>>(double&) [with _CharT = char; _Traits = std::char_traits<char>; std::basic_istream<_CharT, _Traits>::__istream_type = std::basic_istream<char>]'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|218|note: no known conversion for argument 1 from '<unresolved overloaded function type>' to 'double&'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|222|note: candidate: 'std::basic_istream<_CharT, _Traits>::__istream_type& std::basic_istream<_CharT, _Traits>::operator>>(long double&) [with _CharT = char; _Traits = std::char_traits<char>; std::basic_istream<_CharT, _Traits>::__istream_type = std::basic_istream<char>]'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|222|note: no known conversion for argument 1 from '<unresolved overloaded function type>' to 'long double&'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|235|note: candidate: 'std::basic_istream<_CharT, _Traits>::__istream_type& std::basic_istream<_CharT, _Traits>::operator>>(void*&) [with _CharT = char; _Traits = std::char_traits<char>; std::basic_istream<_CharT, _Traits>::__istream_type = std::basic_istream<char>]'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|235|note: no known conversion for argument 1 from '<unresolved overloaded function type>' to 'void*&'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|259|note: candidate: 'std::basic_istream<_CharT, _Traits>& std::basic_istream<_CharT, _Traits>::operator>>(std::basic_istream<_CharT, _Traits>::__streambuf_type*) [with _CharT = char; _Traits = std::char_traits<char>; std::basic_istream<_CharT, _Traits>::__streambuf_type = std::basic_streambuf<char>]'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|259|note: no known conversion for argument 1 from '<unresolved overloaded function type>' to 'std::basic_istream<char>::__streambuf_type*' {aka 'std::basic_streambuf<char>*'}| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\bits\basic_string.tcc|1465|note: candidate: 'template<class _CharT, class _Traits, class _Alloc> std::basic_istream<_CharT, _Traits>& std::operator>>(std::basic_istream<_CharT, _Traits>&, std::__cxx11::basic_string<_CharT, _Traits, _Alloc>&)'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\bits\basic_string.tcc|1465|note: template argument deduction/substitution failed:| E:\C++\2\main.cpp|11|note: couldn't deduce template parameter '_Alloc'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\bits\istream.tcc|931|note: candidate: 'std::basic_istream<_CharT, _Traits>& std::operator>>(std::basic_istream<_CharT, _Traits>&, _CharT&) [with _CharT = char; _Traits = std::char_traits<char>]'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\bits\istream.tcc|931|note: no known conversion for argument 2 from '<unresolved overloaded function type>' to 'char&'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|756|note: candidate: 'template<class _Traits> std::basic_istream<char, _Traits>& std::operator>>(std::basic_istream<char, _Traits>&, unsigned char&)'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|756|note: template argument deduction/substitution failed:| E:\C++\2\main.cpp|11|note: cannot convert 'std::endl' (type '<unresolved overloaded function type>') to type 'unsigned char&'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|761|note: candidate: 'template<class _Traits> std::basic_istream<char, _Traits>& std::operator>>(std::basic_istream<char, _Traits>&, signed char&)'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|761|note: template argument deduction/substitution failed:| E:\C++\2\main.cpp|11|note: cannot convert 'std::endl' (type '<unresolved overloaded function type>') to type 'signed char&'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|799|note: candidate: 'std::basic_istream<_CharT2, _Traits2>& std::operator>>(std::basic_istream<_CharT2, _Traits2>&, _CharT2*) [with _CharT2 = char; _Traits2 = std::char_traits<char>; _CharT = char; _Traits = std::char_traits<char>]'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|799|note: no known conversion for argument 2 from '<unresolved overloaded function type>' to 'char*'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|803|note: candidate: 'template<class _Traits> std::basic_istream<char, _Traits>& std::operator>>(std::basic_istream<char, _Traits>&, unsigned char*)'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|803|note: template argument deduction/substitution failed:| E:\C++\2\main.cpp|11|note: cannot convert 'std::endl' (type '<unresolved overloaded function type>') to type 'unsigned char*'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|808|note: candidate: 'template<class _Traits> std::basic_istream<char, _Traits>& std::operator>>(std::basic_istream<char, _Traits>&, signed char*)'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|808|note: template argument deduction/substitution failed:| E:\C++\2\main.cpp|11|note: cannot convert 'std::endl' (type '<unresolved overloaded function type>') to type 'signed char*'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|980|note: candidate: 'template<class _Istream, class _Tp> typename std::enable_if<std::__and_<std::__not_<std::is_lvalue_reference<_Tp> >, std::__is_convertible_to_basic_istream<_Istream>, std::__is_extractable<typename std::__is_convertible_to_basic_istream<_Tp>::__istream_type, _Tp&&, void> >::value, typename std::__is_convertible_to_basic_istream<_Tp>::__istream_type>::type std::operator>>(_Istream&&, _Tp&&)'| E:\CodeBlocks\MinGW\lib\gcc\x86_64-w64-mingw32\8.1.0\include\c++\istream|980|note: template argument deduction/substitution failed:| E:\C++\2\main.cpp|11|note: couldn't deduce template parameter '_Tp'| E:\C++\2\main.cpp|12|error: 'class cube' has no member named 'setchang'| E:\C++\2\main.cpp|13|error: 'class cube' has no member named 'getchang'| ||=== Build failed: 3 error(s), 0 warning(s) (0 minute(s), 0 second(s)) ===| 是什么意思,怎么解决

#include <iostream> #include <fstream> #include <vector> #include <Eigen/Core> #include <Eigen/Geometry> #include <g2o/core/base_vertex.h> #include <g2o/core/base_binary_edge.h> #include <g2o/core/base_unary_edge.h> #include <g2o/core/block_solver.h> #include <g2o/core/optimization_algorithm_levenberg.h> #include <g2o/solvers/dense/linear_solver_dense.h> #include <g2o/types/slam3d/vertex_se3.h> #include <g2o/types/slam3d/edge_se3.h> #include <g2o/core/eigen_types.h> #include <g2o/types/slam3d/types_slam3d.h> #include <opencv2/opencv.hpp> using namespace std; using namespace Eigen; struct Edge { size_t s; // Start index size_t e; // End index Isometry3d pose; // Relative pose between start and end }; class INS { public: void optimizeTrajectory(std::vector<Isometry3d> &poses) { std::vector<Edge> edgeData; for (size_t i = 0; i < poses.size() - 1; ++i) { Edge edge_data; edge_data.s = i; edge_data.e = i + 1; edge_data.pose = poses[i].inverse() * poses[i + 1]; edgeData.push_back(edge_data); } // 添加最后一个点到第一个点的边 Edge edge_data; edge_data.s = poses.size() - 1; // 最后一个点的索引 edge_data.e = 0; // 第一个点的索引 Isometry3d error_pose = poses[edge_data.s]; Isometry3d true_pose = error_pose * calibration_error_.Get(); LogInfo("The map optimization error is:\n" << matrixToString(calibration_error_.Get().matrix())); edge_data.pose = true_pose.inverse() * poses[edge_data.e]; edgeData.push_back(edge_data); std::unique_ptr<g2o::LinearSolverDense<g2o::BlockSolverX::PoseMatrixType>> linearSolver = std::make_unique<g2o::LinearSolverDense<g2o::BlockSolverX::PoseMatrixType>>(); g2o::OptimizationAlgorithmLevenberg *solver = new g2o::OptimizationAlgorithmLevenberg( std::make_unique<g2o::BlockSolverX>(std::move(linearSolver))); g2o::SparseOptimizer optimizer; optimizer.setAlgorithm(solver); optimizer.setVerbose(false); for (int i = 0; i < poses.size(); i++) { g2o::VertexSE3 *v = new g2o::VertexSE3(); v->setId(i); v->setEstimate(poses[i]); if (i == 0) { v->setFixed(true); } optimizer.addVertex(v); } for (const auto &pData : edgeData) { g2o::EdgeSE3 *edge = new g2o::EdgeSE3(); edge->setVertex(0, optimizer.vertex(pData.s)); edge->setVertex(1, optimizer.vertex(pData.e)); if (&pData == &edgeData.back()) { LogWarn("*******&pData == &edgeData.back()************"); edge->setInformation(Matrix6d::Identity() * 100000); } else { edge->setInformation(Matrix6d::Identity() * 0.001); } edge->setMeasurement(pData.pose); optimizer.addEdge(edge); } optimizer.initializeOptimization(); optimizer.optimize(500); for (int i = 0; i < poses.size(); i++) { g2o::VertexSE3 *vertex = dynamic_cast<g2o::VertexSE3 *>(optimizer.vertex(i)); poses[i] = vertex->estimate(); } LogWarn("Trajectory optimization successful !!!!!!!!!!"); } private: struct CalibrationError { Isometry3d Get() const { Isometry3d calib; calib.setIdentity(); calib.translate(Vector3d(0.1, 0.1, 0.1)); // Example calibration error calib.rotate(AngleAxisd(Deg2Rad(0.1), Vector3d::UnitZ())); // Example rotation error return calib; } }; double Deg2Rad(double deg) const { return deg * M_PI / 180.0; } CalibrationError calibration_error_; template<typename T> void LogInfo(const T& message) { cout << "[INFO] " << message << endl; } template<typename T> void LogWarn(const T& message) { cout << "[WARN] " << message << endl; } string matrixToString(const Matrix4d& matrix) { stringstream ss; ss << matrix; return ss.str(); } }; void generateSimulatedTrajectory(std::vector<Isometry3d>& poses, int numPoints) { double sideLength = 4.0; // 正方形的边长 double angleStep = INS().Deg2Rad(90.0); // 每个转角的角度 for (int i = 0; i < numPoints; ++i) { Isometry3d pose = Isometry3d::Identity(); switch (i % 4) { case 0: pose.translation() = Vector3d(sideLength * (i / 4), 0, 0); break; case 1: pose.translation() = Vector3d(sideLength * (i / 4 + 1), 0, 0); pose.rotate(AngleAxisd(angleStep, Vector3d::UnitZ())); break; case 2: pose.translation() = Vector3d(sideLength * (i / 4 + 1), sideLength, 0); pose.rotate(AngleAxisd(angleStep * 2, Vector3d::UnitZ())); break; case 3: pose.translation() = Vector3d(sideLength * (i / 4), sideLength, 0); pose.rotate(AngleAxisd(angleStep * 3, Vector3d::UnitZ())); break; } // 加入误差 pose.translate(Vector3d(rand() / double(RAND_MAX) * 0.1, rand() / double(RAND_MAX) * 0.1, rand() / double(RAND_MAX) * 0.1)); pose.rotate(AngleAxisd(INS().Deg2Rad(rand() % 2), Vector3d::UnitZ())); poses.push_back(pose); } } void drawTrajectory(const std::vector<Isometry3d>& poses, const std::string& title) { cv::Mat img(800, 800, CV_8UC3, cv::Scalar(255, 255, 255)); for (size_t i = 0; i < poses.size(); ++i) { Vector3d pos = poses[i].translation(); if (i > 0) { Vector3d prevPos = poses[i-1].translation(); cv::line(img, cv::Point((prevPos.x() + 4.0) * 100, (-prevPos.y() + 4.0) * 100), cv::Point((pos.x() + 4.0) * 100, (-pos.y() + 4.0) * 100), cv::Scalar(0, 255, 0), 2); } cv::circle(img, cv::Point((pos.x() + 4.0) * 100, (-pos.y() + 4.0) * 100), 3, cv::Scalar(0, 0, 0), -1); } cv::imshow(title, img); cv::waitKey(1); } int main() { srand(time(NULL)); int numTrajectoryPoints = 16; // 轨迹点数量(正方形的四个角重复四次) std::vector<Isometry3d> trajectory(numTrajectoryPoints); // 生成模拟轨迹 generateSimulatedTrajectory(trajectory, numTrajectoryPoints); // 显示优化前的轨迹 drawTrajectory(trajectory, "Before Optimization"); // 创建INS对象并进行优化 INS ins_optimizer; ins_optimizer.optimizeTrajectory(trajectory); // 显示优化后的轨迹 drawTrajectory(trajectory, "After Optimization"); cv::waitKey(0); return 0; } 报错:/usr/include/c++/9/ostream:523:5: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:46:103: note: mismatched types ‘std::basic_ostream<char, _Traits>’ and ‘const char [32]’ 46 | LogInfo("The map optimization error is:\n" << matrixToString(calibration_error_.Get().matrix())); | ^ In file included from /usr/include/c++/9/iostream:39, from /home/guo/g2o仿真/src/optimize.cc:1: /usr/include/c++/9/ostream:528:5: note: candidate: ‘template<class _Traits> std::basic_ostream<char, _Traits>& std::operator<<(std::basic_ostream<char, _Traits>&, unsigned char)’ 528 | operator<<(basic_ostream<char, _Traits>& __out, unsigned char __c) | ^~~~~~~~ /usr/include/c++/9/ostream:528:5: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:46:103: note: mismatched types ‘std::basic_ostream<char, _Traits>’ and ‘const char [32]’ 46 | LogInfo("The map optimization error is:\n" << matrixToString(calibration_error_.Get().matrix())); | ^ In file included from /usr/include/c++/9/iostream:39, from /home/guo/g2o仿真/src/optimize.cc:1: /usr/include/c++/9/ostream:548:5: note: candidate: ‘template<class _CharT, class _Traits> std::basic_ostream<_CharT, _Traits>& std::operator<<(std::basic_ostream<_CharT, _Traits>&, const _CharT*)’ 548 | operator<<(basic_ostream<_CharT, _Traits>& __out, const _CharT* __s) | ^~~~~~~~ /usr/include/c++/9/ostream:548:5: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:46:103: note: mismatched types ‘std::basic_ostream<_CharT, _Traits>’ and ‘const char [32]’ 46 | LogInfo("The map optimization error is:\n" << matrixToString(calibration_error_.Get().matrix())); | ^ In file included from /usr/include/c++/9/ostream:702, from /usr/include/c++/9/iostream:39, from /home/guo/g2o仿真/src/optimize.cc:1: /usr/include/c++/9/bits/ostream.tcc:321:5: note: candidate: ‘template<class _CharT, class _Traits> std::basic_ostream<_CharT, _Traits>& std::operator<<(std::basic_ostream<_CharT, _Traits>&, const char*)’ 321 | operator<<(basic_ostream<_CharT, _Traits>& __out, const char* __s) | ^~~~~~~~ /usr/include/c++/9/bits/ostream.tcc:321:5: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:46:103: note: mismatched types ‘std::basic_ostream<_CharT, _Traits>’ and ‘const char [32]’ 46 | LogInfo("The map optimization error is:\n" << matrixToString(calibration_error_.Get().matrix())); | ^ In file included from /usr/include/c++/9/iostream:39, from /home/guo/g2o仿真/src/optimize.cc:1: /usr/include/c++/9/ostream:565:5: note: candidate: ‘template<class _Traits> std::basic_ostream<char, _Traits>& std::operator<<(std::basic_ostream<char, _Traits>&, const char*)’ 565 | operator<<(basic_ostream<char, _Traits>& __out, const char* __s) | ^~~~~~~~ /usr/include/c++/9/ostream:565:5: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:46:103: note: mismatched types ‘std::basic_ostream<char, _Traits>’ and ‘const char [32]’ 46 | LogInfo("The map optimization error is:\n" << matrixToString(calibration_error_.Get().matrix())); | ^ In file included from /usr/include/c++/9/iostream:39, from /home/guo/g2o仿真/src/optimize.cc:1: /usr/include/c++/9/ostream:578:5: note: candidate: ‘template<class _Traits> std::basic_ostream<char, _Traits>& std::operator<<(std::basic_ostream<char, _Traits>&, const signed char*)’ 578 | operator<<(basic_ostream<char, _Traits>& __out, const signed char* __s) | ^~~~~~~~ /usr/include/c++/9/ostream:578:5: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:46:103: note: mismatched types ‘std::basic_ostream<char, _Traits>’ and ‘const char [32]’ 46 | LogInfo("The map optimization error is:\n" << matrixToString(calibration_error_.Get().matrix())); | ^ In file included from /usr/include/c++/9/iostream:39, from /home/guo/g2o仿真/src/optimize.cc:1: /usr/include/c++/9/ostream:583:5: note: candidate: ‘template<class _Traits> std::basic_ostream<char, _Traits>& std::operator<<(std::basic_ostream<char, _Traits>&, const unsigned char*)’ 583 | operator<<(basic_ostream<char, _Traits>& __out, const unsigned char* __s) | ^~~~~~~~ /usr/include/c++/9/ostream:583:5: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:46:103: note: mismatched types ‘std::basic_ostream<char, _Traits>’ and ‘const char [32]’ 46 | LogInfo("The map optimization error is:\n" << matrixToString(calibration_error_.Get().matrix())); | ^ In file included from /usr/include/c++/9/iostream:39, from /home/guo/g2o仿真/src/optimize.cc:1: /usr/include/c++/9/ostream:691:5: note: candidate: ‘template<class _Ostream, class _Tp> typename std::enable_if<std::__and_<std::__not_<std::is_lvalue_reference<_Tp> >, std::__is_convertible_to_basic_ostream<_Ostream>, std::__is_insertable<typename std::__is_convertible_to_basic_ostream<_Tp>::__ostream_type, const _Tp&, void> >::value, typename std::__is_convertible_to_basic_ostream<_Tp>::__ostream_type>::type std::operator<<(_Ostream&&, const _Tp&)’ 691 | operator<<(_Ostream&& __os, const _Tp& __x) | ^~~~~~~~ /usr/include/c++/9/ostream:691:5: note: template argument deduction/substitution failed: /usr/include/c++/9/ostream: In substitution of ‘template<class _Ostream, class _Tp> typename std::enable_if<std::__and_<std::__not_<std::is_lvalue_reference<_Tp> >, std::__is_convertible_to_basic_ostream<_Ostream>, std::__is_insertable<typename std::__is_convertible_to_basic_ostream<_Tp>::__ostream_type, const _Tp&, void> >::value, typename std::__is_convertible_to_basic_ostream<_Tp>::__ostream_type>::type std::operator<<(_Ostream&&, const _Tp&) [with _Ostream = const char (&)[32]; _Tp = std::__cxx11::basic_string<char>]’: /home/guo/g2o仿真/src/optimize.cc:46:103: required from here /usr/include/c++/9/ostream:691:5: error: no type named ‘type’ in ‘struct std::enable_if<false, void>’ In file included from /usr/local/include/eigen3/Eigen/Core:50, from /home/guo/g2o仿真/src/optimize.cc:4: /usr/include/c++/9/complex:552:5: note: candidate: ‘template<class _Tp, class _CharT, class _Traits> std::basic_ostream<_CharT, _Traits>& std::operator<<(std::basic_ostream<_CharT, _Traits>&, const std::complex<_Tp>&)’ 552 | operator<<(basic_ostream<_CharT, _Traits>& __os, const complex<_Tp>& __x) | ^~~~~~~~ /usr/include/c++/9/complex:552:5: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:46:103: note: mismatched types ‘std::basic_ostream<_CharT, _Traits>’ and ‘const char [32]’ 46 | LogInfo("The map optimization error is:\n" << matrixToString(calibration_error_.Get().matrix())); | ^ In file included from /opt/ros/noetic/include/g2o/core/hyper_graph.h:31, from /opt/ros/noetic/include/g2o/core/optimizable_graph.h:35, from /opt/ros/noetic/include/g2o/core/base_vertex.h:30, from /home/guo/g2o仿真/src/optimize.cc:6: /usr/include/c++/9/bitset:1538:5: note: candidate: ‘template<class _CharT, class _Traits, long unsigned int _Nb> std::basic_ostream<_CharT, _Traits>& std::operator<<(std::basic_ostream<_CharT, _Traits>&, const std::bitset<_Nb>&)’ 1538 | operator<<(std::basic_ostream<_CharT, _Traits>& __os, | ^~~~~~~~ /usr/include/c++/9/bitset:1538:5: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:46:103: note: mismatched types ‘std::basic_ostream<_CharT, _Traits>’ and ‘const char [32]’ 46 | LogInfo("The map optimization error is:\n" << matrixToString(calibration_error_.Get().matrix())); | ^ In file included from /usr/include/c++/9/memory:81, from /opt/ros/noetic/include/g2o/core/robust_kernel.h:30, from /opt/ros/noetic/include/g2o/core/base_binary_edge.h:34, from /home/guo/g2o仿真/src/optimize.cc:7: /usr/include/c++/9/bits/shared_ptr.h:66:5: note: candidate: ‘template<class _Ch, class _Tr, class _Tp, __gnu_cxx::_Lock_policy _Lp> std::basic_ostream<_CharT, _Traits>& std::operator<<(std::basic_ostream<_CharT, _Traits>&, const std::__shared_ptr<_Tp, _Lp>&)’ 66 | operator<<(std::basic_ostream<_Ch, _Tr>& __os, | ^~~~~~~~ /usr/include/c++/9/bits/shared_ptr.h:66:5: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:46:103: note: mismatched types ‘std::basic_ostream<_CharT, _Traits>’ and ‘const char [32]’ 46 | LogInfo("The map optimization error is:\n" << matrixToString(calibration_error_.Get().matrix())); | ^ In file included from /opt/ros/noetic/include/g2o/core/sparse_block_matrix.h:34, from /opt/ros/noetic/include/g2o/core/solver.h:31, from /opt/ros/noetic/include/g2o/core/block_solver.h:31, from /home/guo/g2o仿真/src/optimize.cc:9: /usr/include/c++/9/iomanip:79:5: note: candidate: ‘template<class _CharT, class _Traits> std::basic_ostream<_CharT, _Traits>& std::operator<<(std::basic_ostream<_CharT, _Traits>&, std::_Resetiosflags)’ 79 | operator<<(basic_ostream<_CharT, _Traits>& __os, _Resetiosflags __f) | ^~~~~~~~ /usr/include/c++/9/iomanip:79:5: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:46:103: note: mismatched types ‘std::basic_ostream<_CharT, _Traits>’ and ‘const char [32]’ 46 | LogInfo("The map optimization error is:\n" << matrixToString(calibration_error_.Get().matrix())); | ^ In file included from /opt/ros/noetic/include/g2o/core/sparse_block_matrix.h:34, from /opt/ros/noetic/include/g2o/core/solver.h:31, from /opt/ros/noetic/include/g2o/core/block_solver.h:31, from /home/guo/g2o仿真/src/optimize.cc:9: /usr/include/c++/9/iomanip:109:5: note: candidate: ‘template<class _CharT, class _Traits> std::basic_ostream<_CharT, _Traits>& std::operator<<(std::basic_ostream<_CharT, _Traits>&, std::_Setiosflags)’ 109 | operator<<(basic_ostream<_CharT, _Traits>& __os, _Setiosflags __f) | ^~~~~~~~ /usr/include/c++/9/iomanip:109:5: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:46:103: note: mismatched types ‘std::basic_ostream<_CharT, _Traits>’ and ‘const char [32]’ 46 | LogInfo("The map optimization error is:\n" << matrixToString(calibration_error_.Get().matrix())); | ^ In file included from /opt/ros/noetic/include/g2o/core/sparse_block_matrix.h:34, from /opt/ros/noetic/include/g2o/core/solver.h:31, from /opt/ros/noetic/include/g2o/core/block_solver.h:31, from /home/guo/g2o仿真/src/optimize.cc:9: /usr/include/c++/9/iomanip:143:5: note: candidate: ‘template<class _CharT, class _Traits> std::basic_ostream<_CharT, _Traits>& std::operator<<(std::basic_ostream<_CharT, _Traits>&, std::_Setbase)’ 143 | operator<<(basic_ostream<_CharT, _Traits>& __os, _Setbase __f) | ^~~~~~~~ /usr/include/c++/9/iomanip:143:5: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:46:103: note: mismatched types ‘std::basic_ostream<_CharT, _Traits>’ and ‘const char [32]’ 46 | LogInfo("The map optimization error is:\n" << matrixToString(calibration_error_.Get().matrix())); | ^ In file included from /opt/ros/noetic/include/g2o/core/sparse_block_matrix.h:34, from /opt/ros/noetic/include/g2o/core/solver.h:31, from /opt/ros/noetic/include/g2o/core/block_solver.h:31, from /home/guo/g2o仿真/src/optimize.cc:9: /usr/include/c++/9/iomanip:178:5: note: candidate: ‘template<class _CharT, class _Traits> std::basic_ostream<_CharT, _Traits>& std::operator<<(std::basic_ostream<_CharT, _Traits>&, std::_Setfill<_CharT>)’ 178 | operator<<(basic_ostream<_CharT, _Traits>& __os, _Setfill<_CharT> __f) | ^~~~~~~~ /usr/include/c++/9/iomanip:178:5: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:46:103: note: mismatched types ‘std::basic_ostream<_CharT, _Traits>’ and ‘const char [32]’ 46 | LogInfo("The map optimization error is:\n" << matrixToString(calibration_error_.Get().matrix())); | ^ In file included from /opt/ros/noetic/include/g2o/core/sparse_block_matrix.h:34, from /opt/ros/noetic/include/g2o/core/solver.h:31, from /opt/ros/noetic/include/g2o/core/block_solver.h:31, from /home/guo/g2o仿真/src/optimize.cc:9: /usr/include/c++/9/iomanip:208:5: note: candidate: ‘template<class _CharT, class _Traits> std::basic_ostream<_CharT, _Traits>& std::operator<<(std::basic_ostream<_CharT, _Traits>&, std::_Setprecision)’ 208 | operator<<(basic_ostream<_CharT, _Traits>& __os, _Setprecision __f) | ^~~~~~~~ /usr/include/c++/9/iomanip:208:5: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:46:103: note: mismatched types ‘std::basic_ostream<_CharT, _Traits>’ and ‘const char [32]’ 46 | LogInfo("The map optimization error is:\n" << matrixToString(calibration_error_.Get().matrix())); | ^ In file included from /opt/ros/noetic/include/g2o/core/sparse_block_matrix.h:34, from /opt/ros/noetic/include/g2o/core/solver.h:31, from /opt/ros/noetic/include/g2o/core/block_solver.h:31, from /home/guo/g2o仿真/src/optimize.cc:9: /usr/include/c++/9/iomanip:238:5: note: candidate: ‘template<class _CharT, class _Traits> std::basic_ostream<_CharT, _Traits>& std::operator<<(std::basic_ostream<_CharT, _Traits>&, std::_Setw)’ 238 | operator<<(basic_ostream<_CharT, _Traits>& __os, _Setw __f) | ^~~~~~~~ /usr/include/c++/9/iomanip:238:5: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:46:103: note: mismatched types ‘std::basic_ostream<_CharT, _Traits>’ and ‘const char [32]’ 46 | LogInfo("The map optimization error is:\n" << matrixToString(calibration_error_.Get().matrix())); | ^ In file included from /opt/ros/noetic/include/g2o/core/sparse_block_matrix.h:34, from /opt/ros/noetic/include/g2o/core/solver.h:31, from /opt/ros/noetic/include/g2o/core/block_solver.h:31, from /home/guo/g2o仿真/src/optimize.cc:9: /usr/include/c++/9/iomanip:311:5: note: candidate: ‘template<class _CharT, class _Traits, class _MoneyT> std::basic_ostream<_CharT, _Traits>& std::operator<<(std::basic_ostream<_CharT, _Traits>&, std::_Put_money<_MoneyT>)’ 311 | operator<<(basic_ostream<_CharT, _Traits>& __os, _Put_money<_MoneyT> __f) | ^~~~~~~~ /usr/include/c++/9/iomanip:311:5: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:46:103: note: mismatched types ‘std::basic_ostream<_CharT, _Traits>’ and ‘const char [32]’ 46 | LogInfo("The map optimization error is:\n" << matrixToString(calibration_error_.Get().matrix())); | ^ In file included from /opt/ros/noetic/include/g2o/core/sparse_block_matrix.h:34, from /opt/ros/noetic/include/g2o/core/solver.h:31, from /opt/ros/noetic/include/g2o/core/block_solver.h:31, from /home/guo/g2o仿真/src/optimize.cc:9: /usr/include/c++/9/iomanip:363:5: note: candidate: ‘template<class _CharT, class _Traits> std::basic_ostream<_CharT, _Traits>& std::operator<<(std::basic_ostream<_CharT, _Traits>&, std::_Put_time<_CharT>)’ 363 | operator<<(basic_ostream<_CharT, _Traits>& __os, _Put_time<_CharT> __f) | ^~~~~~~~ /usr/include/c++/9/iomanip:363:5: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:46:103: note: mismatched types ‘std::basic_ostream<_CharT, _Traits>’ and ‘const char [32]’ 46 | LogInfo("The map optimization error is:\n" << matrixToString(calibration_error_.Get().matrix())); | ^ In file included from /usr/local/include/eigen3/Eigen/Core:269, from /home/guo/g2o仿真/src/optimize.cc:4: /usr/local/include/eigen3/Eigen/src/Core/IO.h:249:16: note: candidate: ‘template<class Derived> std::ostream& Eigen::operator<<(std::ostream&, const Eigen::DenseBase<Derived>&)’ 249 | std::ostream & operator << | ^~~~~~~~ /usr/local/include/eigen3/Eigen/src/Core/IO.h:249:16: note: template argument deduction/substitution failed: /home/guo/g2o仿真/src/optimize.cc:46:103: note: ‘std::string’ {aka ‘std::__cxx11::basic_string<char>’} is not derived from ‘const Eigen::DenseBase<Derived>’ 46 | LogInfo("The map optimization error is:\n" << matrixToString(calibration_error_.Get().matrix())); | ^ /home/guo/g2o仿真/src/optimize.cc:77:38: error: ‘Matrix6d’ has not been declared 77 | edge->setInformation(Matrix6d::Identity() * 100000); | ^~~~~~~~ /home/guo/g2o仿真/src/optimize.cc:79:38: error: ‘Matrix6d’ has not been declared 79 | edge->setInformation(Matrix6d::Identity() * 0.001); | ^~~~~~~~ /home/guo/g2o仿真/src/optimize.cc: In member function ‘Eigen::Isometry3d INS::CalibrationError::Get() const’: /home/guo/g2o仿真/src/optimize.cc:101:48: error: cannot call member function ‘double INS::Deg2Rad(double) const’ without object 101 | calib.rotate(AngleAxisd(Deg2Rad(0.1), Vector3d::UnitZ())); // Example rotation error | ^ /home/guo/g2o仿真/src/optimize.cc: In function ‘void generateSimulatedTrajectory(std::vector<Eigen::Transform<double, 3, 1> >&, int)’: /home/guo/g2o仿真/src/optimize.cc:131:42: error: ‘double INS::Deg2Rad(double) const’ is private within this context 131 | double angleStep = INS().Deg2Rad(90.0); // 每个转角的角度 | ^ /home/guo/g2o仿真/src/optimize.cc:106:12: note: declared private here 106 | double Deg2Rad(double deg) const { | ^~~~~~~ /home/guo/g2o仿真/src/optimize.cc:146:56: error: ‘double INS::Deg2Rad(double) const’ is private within this context 146 | pose.rotate(AngleAxisd(INS().Deg2Rad(rand() % 2), Vector3d::UnitZ())); | ^ /home/guo/g2o仿真/src/optimize.cc:106:12: note: declared private here 106 | double Deg2Rad(double deg) const { | ^~~~~~~ make[2]: *** [CMakeFiles/g2o_demo.dir/build.make:76:CMakeFiles/g2o_demo.dir/optimize.cc.o] 错误 1 make[1]: *** [CMakeFiles/Makefile2:673:CMakeFiles/g2o_demo.dir/all] 错误 2 make: *** [Makefile:146:all] 错误 2 给出完整修改后代码

SW_孙维

开发技术专家
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