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POundefined reference linking error on calling constructor of struct in C++
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copied!<p>using almath functions in Nao Sdk I had this error undefined reference to `AL::Math::Transform::Transform()'</p> <p>this is the header " altransform.h "</p> <pre><code>#pragma once #ifndef _LIBALMATH_ALMATH_TYPES_ALTRANSFORM_H_ #define _LIBALMATH_ALMATH_TYPES_ALTRANSFORM_H_ #include <vector> namespace AL { namespace Math { /// <summary> /// A homogenous transformation matrix. /// /// </summary> /// <A HREF="http://en.wikipedia.org/wiki/Transformation_matrix">more information</A> /// \ingroup Types struct Transform { /** \cond PRIVATE */ float r1_c1, r1_c2, r1_c3, r1_c4; float r2_c1, r2_c2, r2_c3, r2_c4; float r3_c1, r3_c2, r3_c3, r3_c4; /** \endcond */ /// <summary> /// Create a Transform initialized to identity. /** * * \f$ \left[\begin{array}{cccc} * r_1c_1 & r_1c_2 & r_1c_3 & r_1c_4 \\ * r_2c_1 & r_2c_2 & r_2c_3 & r_2c_4 \\ * r_3c_1 & r_3c_2 & r_3c_3 & r_3c_4 \\ * 0.0 & 0.0 & 0.0 & 1.0 * \end{array}\right] = * \left[\begin{array}{cccc} * 1.0 & 0.0 & 0.0 & 0.0 \\ * 0.0 & 1.0 & 0.0 & 0.0 \\ * 0.0 & 0.0 & 1.0 & 0.0 \\ * 0.0 & 0.0 & 0.0 & 1.0 * \end{array}\right]\f$ */ /// </summary> Transform() ; /// <summary> /// Create a Transform with an std::vector. /// </summary> /// <param name="pFloats"> /// An std::vector<float> of size 12 or 16 for respectively: /// /** * * \f$ \left[\begin{array}{cccc} * r_1c_1 & r_1c_2 & r_1c_3 & r_1c_4 \\ * r_2c_1 & r_2c_2 & r_2c_3 & r_2c_4 \\ * r_3c_1 & r_3c_2 & r_3c_3 & r_3c_4 \\ * 0.0 & 0.0 & 0.0 & 1.0 * \end{array}\right] = * \left[\begin{array}{cccc} * pFloats[00] & pFloats[01] & pFloats[02] & pFloats[03] \\ * pFloats[04] & pFloats[05] & pFloats[06] & pFloats[07] \\ * pFloats[08] & pFloats[09] & pFloats[10] & pFloats[11] \\ * 0.0 & 0.0 & 0.0 & 1.0 * \end{array}\right]\f$ */ explicit Transform(const std::vector<float>& pFloats); /// <summary> /// Create a Transform initialized with explicit value for translation /// part. Rotation part is set to identity. /** * * \f$ \left[\begin{array}{cccc} * r_1c_1 & r_1c_2 & r_1c_3 & r_1c_4 \\ * r_2c_1 & r_2c_2 & r_2c_3 & r_2c_4 \\ * r_3c_1 & r_3c_2 & r_3c_3 & r_3c_4 \\ * 0.0 & 0.0 & 0.0 & 1.0 * \end{array}\right] = * \left[\begin{array}{cccc} * 1.0 & 0.0 & 0.0 & pPosX \\ * 0.0 & 1.0 & 0.0 & pPosY \\ * 0.0 & 0.0 & 1.0 & pPosZ \\ * 0.0 & 0.0 & 0.0 & 1.0 * \end{array}\right]\f$ */ /// </summary> /// <param name="pPosX"> the float value for translation x </param> /// <param name="pPosY"> the float value for translation y </param> /// <param name="pPosZ"> the float value for translation z </param> Transform( const float& pPosX, const float& pPosY, const float& pPosZ); /// <summary> /// Overloading of operator *= for Transform. /// </summary> /// <param name="pT2"> the second Transform </param> Transform& operator*= (const Transform& pT2); /// <summary> /// Overloading of operator * for Transform. /// </summary> /// <param name="pT2"> the second Transform </param> Transform operator* (const Transform& pT2) const; /// <summary> /// Overloading of operator == for Transform. /// </summary> /// <param name="pT2"> the second Transform </param> bool operator==(const Transform& pT2) const; /// <summary> /// Overloading of operator != for Transform. /// </summary> /// <param name="pT2"> the second Transform </param> bool operator!=(const Transform& pT2) const; /// <summary> /// Check if the actual Transform is near the one /// given in argument. /// /// </summary> /// <param name="pT2"> the second Transform </param> /// <param name="pEpsilon"> an optionnal epsilon distance: Default: 0.0001 </param> /// <returns> /// true if the distance between the two Transform is less than pEpsilon /// </returns> bool isNear( const Transform& pT2, const float& pEpsilon=0.0001f) const; /// <summary> /// Check if the rotation part is correct. /// The condition checks are: /// \f$R^t * R = I\f$ /// and /// determinant(R) = 1.0 /// /// </summary> /// <param name="pEpsilon"> an optionnal epsilon distance. Default: 0.0001 </param> /// <returns> /// true if the Transform is correct /// </returns> bool isTransform( const float& pEpsilon=0.0001f) const; /// <summary> /// Compute the norm translation part of the actual Transform: /// /// \f$\sqrt{pT.r_1c_4^2+pT.r_2c_4^2+pT.r_3c_4^2}\f$ /// </summary> /// <returns> /// the float norm of the Transform /// </returns> float norm() const; /// <summary> /// Compute the determinant of rotation part of the actual Transform: /// /** * \f$pT.r_1c_1*pT.r_2c_2*pT.r_3c_3 + pT.r_1c_2*pT.r_2c_3*pT.r_3c_1 + * pT.r_1c_3*pT.r_2c_1*pT.r_3c_2 - pT.r_1c_1*pT.r_2c_3*pT.r_3c_2 - * pT.r_1c_2*pT.r_2c_1*pT.r_3c_3 - pT.r_1c_3*pT.r_2c_2*pT.r_3c_1\f$ */ /// </summary> /// <returns> /// the float determinant of rotation Transform part /// </returns> float determinant() const; /// <summary> /// Compute the transform inverse of the actual Transform: /// /** * \f$ pT = \left[\begin{array}{cc}R & r \\ * 0_{31} & 1 \end{array}\right]\f$ */ /// /** \f$ pTOut = \left[\begin{array}{cc} * R^t & (-R^t*r) \\ * 0_{31} & 1 * \end{array}\right]\f$ */ /// /// </summary> /// <returns> /// the Transform inverse /// </returns> Transform inverse() const; /// <summary> /// Create a Transform initialized with explicit rotation around x axis. /// /** \f$ pT = \left[\begin{array}{cccc} * 1.0 & 0.0 & 0.0 & 0.0 \\ * 0.0 & cos(pRotX) & -sin(pRotX) & 0.0 \\ * 0.0 & sin(pRotX) & cos(pRotX) & 0.0 \\ * 0.0 & 0.0 & 0.0 & 1.0 \end{array}\right]\f$ */ /// </summary> /// <param name="pRotX"> the float value for angle rotation in radian around x axis </param> static Transform fromRotX(const float pRotX); /// <summary> /// Create a Transform initialized with explicit rotation around y axis. /// /** * \f$ pT = \left[\begin{array}{cccc} * cos(pRotY) & 0.0 & sin(pRotY) & 0.0 \\ * 0.0 & 1.0 & 0.0 & 0.0 \\ * -sin(pRotY) & 0.0 & cos(pRotY) & 0.0 \\ * 0.0 & 0.0 & 0.0 & 1.0 * \end{array}\right]\f$ */ /// </summary> /// <param name="pRotY"> the float value for angle rotation in radian around y axis </param> static Transform fromRotY(const float pRotY); /// <summary> /// Create a Transform initialized with explicit rotation around z axis. /// /** * \f$ pT = \left[\begin{array}{cccc} * cos(pRotZ) & -sin(pRotZ) & 0.0 & 0.0 \\ * sin(pRotZ) & cos(pRotZ) & 0.0 & 0.0 \\ * 0.0 & 0.0 & 1.0 & 0.0 \\ * 0.0 & 0.0 & 0.0 & 1.0 * \end{array}\right]\f$ */ /// </summary> /// <param name="pRotZ"> the float value for angle rotation in radian around z axis </param> static Transform fromRotZ(const float pRotZ); /// <summary> /// Create a Transform initialize with euler angle. /// /// H = fromRotZ(pWZ)*fromRotY(pWY)*fromRotX(pWX) /// /// </summary> /// <param name="pWX"> the float value for euler angle x in radian </param> /// <param name="pWY"> the float value for euler angle y in radian </param> /// <param name="pWZ"> the float value for euler angle z in radian </param> static Transform from3DRotation( const float& pWX, const float& pWY, const float& pWZ); /// <summary> /// Create a Transform initialize with explicit value for translation part. /// /** * \f$ pT = \left[\begin{array}{cccc} * 1.0 & 0.0 & 0.0 & pX \\ * 0.0 & 1.0 & 0.0 & pY \\ * 0.0 & 0.0 & 1.0 & pZ \\ * 0.0 & 0.0 & 0.0 & 1.0 * \end{array}\right]\f$ */ /// </summary> /// <param name="pX"> the float value for translation axis x in meter (r1_c4) </param> /// <param name="pY"> the float value for translation axis y in meter (r2_c4) </param> /// <param name="pZ"> the float value for translation axis z in meter (r3_c4) </param> static Transform fromPosition( const float pX, const float pY, const float pZ); /// <summary> /// Create a Transform initialize with explicit value for translation part and euler angle. /// /// H = fromRotZ(pWZ)*fromRotY(pWY)*fromRotX(pWX) /// /// then /// /// H.r1_c4 = pX /// /// H.r2_c4 = pY /// /// H.r3_c4 = pZ /// /// </summary> /// <param name="pX"> the float value for translation axis x in meter (r1_c4) </param> /// <param name="pY"> the float value for translation axis y in meter (r2_c4) </param> /// <param name="pZ"> the float value for translation axis z in meter (r3_c4) </param> /// <param name="pWX"> the float value for euler angle x in radian </param> /// <param name="pWY"> the float value for euler angle y in radian </param> /// <param name="pWZ"> the float value for euler angle z in radian </param> static Transform fromPosition( const float& pX, const float& pY, const float& pZ, const float& pWX, const float& pWY, const float& pWZ); /// <summary> /// Compute the Transform between the actual /// Transform and the one given in argument: /// /// result: inverse(pT1)*pT2 /// /// </summary> /// <param name="pT2"> the second transform </param> Transform diff(const Transform& pT2) const; /// <summary> /// Compute the squared distance between the actual /// Transform and the one given in argument (translation part): /// /// \f$(pT1.r_1c_4-pT2.r_1c_4)^2+(pT1.r_2c_4-pT2.r_2c_4)^2+(pT1.r_3c_4-pT2.r_3c_4)^2\f$ /// </summary> /// <param name="pT2"> the second Transform </param> /// <returns> /// the float squared distance between the two Transform: translation part /// </returns> float distanceSquared(const Transform& pT2) const; /// <summary> /// Compute the distance between the actual /// Transform and the one given in argument: /// /// \f$\sqrt{(pT1.r_1c_4-pT2.r_1c_4)^2+(pT1.r_2c_4-pT2.r_2c_4)^2+(pT1.r_3c_4-pT2.r_3c_4)^2}\f$ /// </summary> /// <param name="pT2"> the second Transform </param> /// <returns> /// the float distance between the two Transform /// </returns> float distance(const Transform& pT2) const; /// <summary> /// Return the Transform as a vector of float: /// /** \f$ \begin{array}{cccc} * [r_1c_1, & r_1c_2, & r_1c_3, & r_1c_4, \\ * r_2c_1, & r_2c_2, & r_2c_3, & r_2c_4, \\ * r_3c_1, & r_3c_2, & r_3c_3, & r_3c_4, \\ * 0.0, & 0.0, & 0.0, & 1.0] * \end{array}\f$ */ /// </summary> std::vector<float> toVector() const; }; // end struct </code></pre> <p>and I want to call constructor of struct Transform </p> <pre><code> AL::Math::Transform *mytransform ; mytransform= new AL::Math::Transform(); /** ** or **/ std::vector<float> transform_ = motion->getTransform(currentCamera, 2, true); AL::Math::Transform mytransform2(transform_); </code></pre> <p>How can I instanciate a struct in c++ ? call constructor ? </p>

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