Good day,
I am trying to use the function [setFromIK](http://docs.ros.org/kinetic/api/moveit_core/html/classmoveit_1_1core_1_1RobotState.html#ab816880027ef7e63bbdef22a0497cc78) defined on [moveit::core::RobotState](http://docs.ros.org/kinetic/api/moveit_core/html/classmoveit_1_1core_1_1RobotState.html#a7dab73858059bedb7894cf4ec520c10d).
This function admits a callable parameter named ` GroupStateValidityCallbackFn` with type (function signature):
[`typedef boost::function`](http://docs.ros.org/kinetic/api/moveit_core/html/namespacemoveit_1_1core.html#a7e30b6ca7b8fafe9e2dd276d60e00b2c)
The problem arises because I am trying to pass a member class functions to this parameter (because I need come class instance member fields in the processing), and then the binding process goes to hell.
My class look like this:
class CSDA10F{
public:
bool validateIKSolution( robot_state::RobotState* robot_state,
const robot_state::JointModelGroup* joint_group,
const double* joint_group_variable_value){
[...]
// some code here
[...]
}
bool planCartesianMotionTask(MoveGroupInterface* move_group,
geometry_msgs::Pose initial_pose,
geometry_msgs::Pose final_pose,
std::vector motion_plans,
uint max_configurations = 10) {
[...] // Here I make the call!!!.
auto ik_check_callback = std::bind(&CSDA10F::validateIKSolution, this, _1, _2, _3);
ik_solution_found = start_state.setFromIK( joint_model_group, initial_pose, 10, 0.01, ik_check_callback);
[...]
}
I use 3 placeholders for the 3 arguments from the function, but then the compiler just failes with an error that I simply dont understand.
In file included from /usr/include/boost/function/detail/maybe_include.hpp:28:0,
from /usr/include/boost/function/detail/function_iterate.hpp:14,
from /usr/include/boost/preprocessor/iteration/detail/iter/forward1.hpp:62,
from /usr/include/boost/function.hpp:64,
from /opt/ros/kinetic/include/ros/forwards.h:40,
from /opt/ros/kinetic/include/ros/common.h:37,
from /opt/ros/kinetic/include/ros/ros.h:43,
from /home/invite/catkin_ws/src/[...].cpp:1:
/usr/include/boost/function/function_template.hpp: In instantiation of ‘static R boost::detail::function::function_obj_invoker3::invoke(boost::detail::function::function_buffer&, T0, T1, T2) [with FunctionObj = std::_Bind(invite_utils::CSDA10F, boost::arg<1>, boost::arg<2>, boost::arg<3>)>; R = bool; T0 = moveit::core::RobotState*; T1 = const moveit::core::JointModelGroup*; T2 = const double*]’:
/usr/include/boost/function/function_template.hpp:940:38: required from ‘void boost::function3::assign_to(Functor) [with Functor = std::_Bind(invite_utils::CSDA10F, boost::arg<1>, boost::arg<2>, boost::arg<3>)>; R = bool; T0 = moveit::core::RobotState*; T1 = const moveit::core::JointModelGroup*; T2 = const double*]’
/usr/include/boost/function/function_template.hpp:728:7: required from ‘boost::function3::function3(Functor, typename boost::enable_if_c::value>::value, int>::type) [with Functor = std::_Bind(invite_utils::CSDA10F, boost::arg<1>, boost::arg<2>, boost::arg<3>)>; R = bool; T0 = moveit::core::RobotState*; T1 = const moveit::core::JointModelGroup*; T2 = const double*; typename boost::enable_if_c::value>::value, int>::type = int]’
/usr/include/boost/function/function_template.hpp:1077:16: required from ‘boost::function::function(Functor, typename boost::enable_if_c::value>::value, int>::type) [with Functor = std::_Bind(invite_utils::CSDA10F, boost::arg<1>, boost::arg<2>, boost::arg<3>)>; R = bool; T0 = moveit::core::RobotState*; T1 = const moveit::core::JointModelGroup*; T2 = const double*; typename boost::enable_if_c::value>::value, int>::type = int]’
/home/invite/catkin_ws/src/invite-robotics/invite_utils/include/invite_utils/csda10f_interface.h:202:116: required from here
/usr/include/boost/function/function_template.hpp:138:22: error: no match for call to ‘(std::_Bind(invite_utils::CSDA10F, boost::arg<1>, boost::arg<2>, boost::arg<3>)>) (moveit::core::RobotState*, const moveit::core::JointModelGroup*, const double*)’
return (*f)(BOOST_FUNCTION_ARGS);
Does the declaration on the `RobotState` does not allow for member functions (I dont see why not)?, I believe I am making a mistake with std::bind but I cannot seem to find an answer of what it is.
What do I know:
- I am using the correct argument types in the function to be bind
- I have the correct number of arguments (3)
Any ideas what is the problem?
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