Drake: std::shared_ptr compiler error on older ubuntu machine

[RussTedrake]

After fixing mex.cmake to properly pass the mex compile flags, i'm getting a compile error on one of my 6 test machines. A quick google search only suggested -std=c++0x, but that's already in the compiler flags. Andres - it's in your code - can you have a look?

[ 58%] Building CXX object systems/plants/CMakeFiles/HandCmex.dir/HandCmex.cpp.o
cd /home/russt/locomotion/drake-distro/drake/pod-build/systems/plants && /usr/local/bin/c++   -DHandCmex_EXPORTS -Wreturn-type -Wuninitialized -Wunused-variable -std=c++0x -O3 -DNDEBUG -fPIC -I/home/russt/locomotion/drake-distro/drake/pod-build/include -I/home/russt/locomotion/drake-distro/build/include -I/home/russt/locomotion/drake-distro/drake/pod-build/lcmgen -I/usr/include/glib-2.0 -I/usr/lib/x86_64-linux-gnu/glib-2.0/include -I/home/russt/locomotion/drake-distro/build/include/eigen3 -I/usr/local/MATLAB/R2012b/extern/include -I/usr/local/MATLAB/R2012b/simulink/include -I/home/russt/locomotion/drake-distro/drake/util -I/home/russt/locomotion/drake-distro/drake/systems/plants/tinyxml -I/home/russt/locomotion/drake-distro/build/include/snopt    -DMATLAB_MEX_FILE  -ansi -D_GNU_SOURCE -fPIC -fno-omit-frame-pointer -pthread   -DMX_COMPAT_32 -o CMakeFiles/HandCmex.dir/HandCmex.cpp.o -c /home/russt/locomotion/drake-distro/drake/systems/plants/HandCmex.cpp
In file included from /home/russt/locomotion/drake-distro/drake/systems/plants/RigidBodyManipulator.h:9:0,
                 from /home/russt/locomotion/drake-distro/drake/systems/plants/HandCmex.cpp:6:
/home/russt/locomotion/drake-distro/drake/systems/plants/collision/Model.h:69:3: error: ‘shared_ptr’ in namespace ‘std’ does not name a type
/home/russt/locomotion/drake-distro/drake/systems/plants/collision/Model.h:71:3: error: ‘shared_ptr’ in namespace ‘std’ does not name a type
In file included from /home/russt/locomotion/drake-distro/drake/systems/plants/HandCmex.cpp:6:0:
/home/russt/locomotion/drake-distro/drake/systems/plants/RigidBodyManipulator.h:185:3: error: ‘shared_ptr’ in namespace ‘std’ does not name a type
make[3]: *** [systems/plants/CMakeFiles/HandCmex.dir/HandCmex.cpp.o] Error 1
make[3]: Leaving directory `/home/russt/locomotion/drake-distro/drake/pod-build'
make[2]: *** [systems/plants/CMakeFiles/HandCmex.dir/all] Error 2
make[2]: Leaving directory `/home/russt/locomotion/drake-distro/drake/pod-build'
make[1]: *** [all] Error 2
make[1]: Leaving directory `/home/russt/locomotion/drake-distro/drake/pod-build'
make: *** [all] Error 2

[RussTedrake]

a little more info:

russt@ubuntu:~/locomotion/drake-distro/drake$ gcc -v
Using built-in specs.
COLLECT_GCC=/usr/bin/gcc
COLLECT_LTO_WRAPPER=/usr/lib/gcc/x86_64-linux-gnu/4.6/lto-wrapper
Target: x86_64-linux-gnu
Configured with: ../src/configure -v --with-pkgversion='Ubuntu/Linaro 4.6.3-1ubuntu5' --with-bugurl=file:///usr/share/doc/gcc-4.6/README.Bugs --enable-languages=c,c++,fortran,objc,obj-c++ --prefix=/usr --program-suffix=-4.6 --enable-shared --enable-linker-build-id --with-system-zlib --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --with-gxx-include-dir=/usr/include/c++/4.6 --libdir=/usr/lib --enable-nls --with-sysroot=/ --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --enable-gnu-unique-object --enable-plugin --enable-objc-gc --disable-werror --with-arch-32=i686 --with-tune=generic --enable-checking=release --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=x86_64-linux-gnu
Thread model: posix
gcc version 4.6.3 (Ubuntu/Linaro 4.6.3-1ubuntu5) 

[avalenzu]

std::shared_ptr should be in <memory>, which is included in Model.h.

This compiled fine on my machine until I updated the cmake submodule - after that I get the same error you show above

[RussTedrake]

that's good - at least it's reproducible

On Apr 12, 2014, at 10:00 AM, Andres Valenzuela [email protected] wrote:

std::shared_ptr should be in , which is included in Model.h.

This compiled fine on my machine until I updated the cmake submodule - after that I get the same error you show above

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[avalenzu]

This error seems to appear in RobotLocomotion/cmake@6c27268. Not sure why that would change what standard library classes are available. Here are the compile commands that work and don't work:

THIS WORKS
[ 61%] Building CXX object systems/plants/CMakeFiles/HandCmex.dir/HandCmex.cpp.o
cd /home/avalenzu/drc/software/drake/pod-build/systems/plants && /usr/lib/ccache/c++   -DHandCmex_EXPORTS -Wreturn-type -Wuninitialized -Wreturn-type -Wuninitialized  -Wreturn-type -Wuninitialized -Wunused-variable -std=c++0x -O3 -DNDEBUG -fPIC -I/home/avalenzu/drc/software/drake/pod-build/include -I/home/avalenzu/drc/software/build/include -I/home/avalenzu/drc/software/drake/pod-build/lcmgen -I/usr/local/include -I/usr/include/glib-2.0 -I/usr/lib/x86_64-linux-gnu/glib-2.0/include -I/home/avalenzu/drc/software/build/include/eigen3 -I/usr/local/MATLAB/R2013b/extern/include -I/usr/local/MATLAB/R2013b/simulink/include -I/home/avalenzu/drc/software/drake/util -I/home/avalenzu/drc/software/drake/systems/plants/tinyxml -I/home/avalenzu/drc/software/build/include/snopt    -DMATLAB_MEX_FILE -o CMakeFiles/HandCmex.dir/HandCmex.cpp.o -c /home/avalenzu/drc/software/drake/systems/plants/HandCmex.cpp

THIS DOESN'T
[ 61%] Building CXX object systems/plants/CMakeFiles/HandCmex.dir/HandCmex.cpp.o
cd /home/avalenzu/drc/software/drake/pod-build/systems/plants && /usr/lib/ccache/c++   -DHandCmex_EXPORTS -Wreturn-type -Wuninitialized -Wreturn-type -Wuninitialized  -Wreturn-type -Wuninitialized -Wunused-variable -std=c++0x -O3 -DNDEBUG -fPIC -I/home/avalenzu/drc/software/drake/pod-build/include -I/home/avalenzu/drc/software/build/include -I/home/avalenzu/drc/software/drake/pod-build/lcmgen -I/usr/local/include -I/usr/include/glib-2.0 -I/usr/lib/x86_64-linux-gnu/glib-2.0/include -I/home/avalenzu/drc/software/build/include/eigen3 -I/usr/local/MATLAB/R2013b/extern/include -I/usr/local/MATLAB/R2013b/simulink/include -I/home/avalenzu/drc/software/drake/util -I/home/avalenzu/drc/software/drake/systems/plants/tinyxml -I/home/avalenzu/drc/software/build/include/snopt    -DMATLAB_MEX_FILE  -ansi -D_GNU_SOURCE -fPIC -fno-omit-frame-pointer -pthread   -DMX_COMPAT_32 -o CMakeFiles/HandCmex.dir/HandCmex.cpp.o -c /home/avalenzu/drc/software/drake/systems/plants/HandCmex.cpp

The difference is that the latter contains the following flags:

-ansi -D_GNU_SOURCE -fPIC -fno-omit-frame-pointer -pthread   -DMX_COMPAT_32

If I update the cmake submodule, run make, let the build fail, and then manually enter the compile command without those flags, the file compiles.

Hope that helps!

[RussTedrake]

can you figure out which of the flags is causing the problem? maybe -ansi?

On Apr 12, 2014, at 10:29 AM, Andres Valenzuela [email protected] wrote:

This error seems to appear in RobotLocomotion/cmake@6c27268. Not sure why that would change what standard library classes are available. Here are the compile commands that work and don't work:

THIS WORKS
[ 61%] Building CXX object systems/plants/CMakeFiles/HandCmex.dir/HandCmex.cpp.o
cd /home/avalenzu/drc/software/drake/pod-build/systems/plants && /usr/lib/ccache/c++ -DHandCmex_EXPORTS -Wreturn-type -Wuninitialized -Wreturn-type -Wuninitialized -Wreturn-type -Wuninitialized -Wunused-variable -std=c++0x -O3 -DNDEBUG -fPIC -I/home/avalenzu/drc/software/drake/pod-build/include -I/home/avalenzu/drc/software/build/include -I/home/avalenzu/drc/software/drake/pod-build/lcmgen -I/usr/local/include -I/usr/include/glib-2.0 -I/usr/lib/x86_64-linux-gnu/glib-2.0/include -I/home/avalenzu/drc/software/build/include/eigen3 -I/usr/local/MATLAB/R2013b/extern/include -I/usr/local/MATLAB/R2013b/simulink/include -I/home/avalenzu/drc/software/drake/util -I/home/avalenzu/drc/software/drake/systems/plants/tinyxml -I/home/avalenzu/drc/software/build/include/snopt -DMATLAB_MEX_FILE -o CMakeFiles/HandCmex.dir/HandCmex.cpp.o -c /home/avalenzu/drc/software/drake/systems/plants/HandCmex.cpp

THIS DOESN'T
[ 61%] Building CXX object systems/plants/CMakeFiles/HandCmex.dir/HandCmex.cpp.o
cd /home/avalenzu/drc/software/drake/pod-build/systems/plants && /usr/lib/ccache/c++ -DHandCmex_EXPORTS -Wreturn-type -Wuninitialized -Wreturn-type -Wuninitialized -Wreturn-type -Wuninitialized -Wunused-variable -std=c++0x -O3 -DNDEBUG -fPIC -I/home/avalenzu/drc/software/drake/pod-build/include -I/home/avalenzu/drc/software/build/include -I/home/avalenzu/drc/software/drake/pod-build/lcmgen -I/usr/local/include -I/usr/include/glib-2.0 -I/usr/lib/x86_64-linux-gnu/glib-2.0/include -I/home/avalenzu/drc/software/build/include/eigen3 -I/usr/local/MATLAB/R2013b/extern/include -I/usr/local/MATLAB/R2013b/simulink/include -I/home/avalenzu/drc/software/drake/util -I/home/avalenzu/drc/software/drake/systems/plants/tinyxml -I/home/avalenzu/drc/software/build/include/snopt -DMATLAB_MEX_FILE -ansi -D_GNU_SOURCE -fPIC -fno-omit-frame-pointer -pthread -DMX_COMPAT_32 -o CMakeFiles/HandCmex.dir/HandCmex.cpp.o -c /home/avalenzu/drc/software/drake/systems/plants/HandCmex.cpp
The difference is that the latter contains the following flags:

-ansi -D_GNU_SOURCE -fPIC -fno-omit-frame-pointer -pthread -DMX_COMPAT_32
If I update the cmake submodule, run make, let the build fail, and then manually enter the compile command without those flags, the file compiles.

Hope that helps!

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[avalenzu]

Good call. Without -ansi it compiles, with -ansi it doesn't.

[RussTedrake]

Ok. I will search for and remove the ANSI flag if it appears and print a warning. Not ideal, but seems necessary.

• Russ

On Apr 12, 2014, at 11:09 AM, Andres Valenzuela [email protected] wrote:

Good call. Without -ansi it compiles, with -ansi it doesn't.

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[avalenzu]

This was resolved by RobotLocomotion/cmake@1a37c487856d7ac5a9c3fe4da54edaa7f872a3b6

[john-j-mclaughlin]

-ansi
In C mode, this is equivalent to -std=c89. In C++ mode, it is equivalent to -std=c++98.

std::shared_ptr was added in C++11