Task space controller

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Gautam Ramachandra
Posts: 65
Joined: Thu Sep 03, 2015 11:04 pm

Task space controller

Post by Gautam Ramachandra » Thu May 12, 2016 10:04 pm

Hi,
I am trying to run the task space controller code of Opensim written in C++ present in github of opensim, but I am getting lot of errors. I am running it in windows 10, visual studio 11 (2012) 32 bit and these are the errors. And in the code like include <simbody/simbody.h> what I have done is I have copied those folders like simbody into the folder of the code containing task space so the linking of the libraries will be easy so I did copy some folders that is included in opensim to the folder containing task space. Does the code work ? Please help me with this.

Code: Select all

Error	108	error C1003: error count exceeds 100; stopping compilation	c:\users\gautam\music\taskspace\TaskSpace.h	628	1	futureTaskSpace
Error	216	error C1003: error count exceeds 100; stopping compilation	c:\users\gautam\music\taskspace\TaskSpace.h	628	1	futureTaskSpace
Error	324	error C1003: error count exceeds 100; stopping compilation	c:\users\gautam\music\taskspace\TaskSpace.h	628	1	futureTaskSpace
Error	33	error C2039: 'extendConnectToModel' : is not a member of 'OpenSim::ModelComponent'	c:\users\gautam\music\taskspace\TaskSpace.h	220	1	futureTaskSpace
Error	141	error C2039: 'extendConnectToModel' : is not a member of 'OpenSim::ModelComponent'	c:\users\gautam\music\taskspace\TaskSpace.h	220	1	futureTaskSpace
Error	249	error C2039: 'extendConnectToModel' : is not a member of 'OpenSim::ModelComponent'	c:\users\gautam\music\taskspace\TaskSpace.h	220	1	futureTaskSpace
Error	58	error C2059: syntax error : 'private'	c:\users\gautam\music\taskspace\TaskSpace.h	623	1	futureTaskSpace
Error	68	error C2059: syntax error : 'private'	c:\users\gautam\music\taskspace\TaskSpace.h	624	1	futureTaskSpace
Error	74	error C2059: syntax error : 'private'	c:\users\gautam\music\taskspace\TaskSpace.h	625	1	futureTaskSpace
Error	84	error C2059: syntax error : 'private'	c:\users\gautam\music\taskspace\TaskSpace.h	626	1	futureTaskSpace
Error	94	error C2059: syntax error : 'private'	c:\users\gautam\music\taskspace\TaskSpace.h	627	1	futureTaskSpace
Error	104	error C2059: syntax error : 'private'	c:\users\gautam\music\taskspace\TaskSpace.h	628	1	futureTaskSpace
Error	166	error C2059: syntax error : 'private'	c:\users\gautam\music\taskspace\TaskSpace.h	623	1	futureTaskSpace
Error	176	error C2059: syntax error : 'private'	c:\users\gautam\music\taskspace\TaskSpace.h	624	1	futureTaskSpace
Error	182	error C2059: syntax error : 'private'	c:\users\gautam\music\taskspace\TaskSpace.h	625	1	futureTaskSpace
Error	192	error C2059: syntax error : 'private'	c:\users\gautam\music\taskspace\TaskSpace.h	626	1	futureTaskSpace
Error	202	error C2059: syntax error : 'private'	c:\users\gautam\music\taskspace\TaskSpace.h	627	1	futureTaskSpace
Error	212	error C2059: syntax error : 'private'	c:\users\gautam\music\taskspace\TaskSpace.h	628	1	futureTaskSpace
Error	274	error C2059: syntax error : 'private'	c:\users\gautam\music\taskspace\TaskSpace.h	623	1	futureTaskSpace
Error	284	error C2059: syntax error : 'private'	c:\users\gautam\music\taskspace\TaskSpace.h	624	1	futureTaskSpace
Error	290	error C2059: syntax error : 'private'	c:\users\gautam\music\taskspace\TaskSpace.h	625	1	futureTaskSpace
Error	300	error C2059: syntax error : 'private'	c:\users\gautam\music\taskspace\TaskSpace.h	626	1	futureTaskSpace
Error	310	error C2059: syntax error : 'private'	c:\users\gautam\music\taskspace\TaskSpace.h	627	1	futureTaskSpace
Error	320	error C2059: syntax error : 'private'	c:\users\gautam\music\taskspace\TaskSpace.h	628	1	futureTaskSpace
Error	52	error C2059: syntax error : 'public'	c:\users\gautam\music\taskspace\TaskSpace.h	622	1	futureTaskSpace
Error	62	error C2059: syntax error : 'public'	c:\users\gautam\music\taskspace\TaskSpace.h	623	1	futureTaskSpace
Error	70	error C2059: syntax error : 'public'	c:\users\gautam\music\taskspace\TaskSpace.h	624	1	futureTaskSpace
Error	78	error C2059: syntax error : 'public'	c:\users\gautam\music\taskspace\TaskSpace.h	625	1	futureTaskSpace
Error	88	error C2059: syntax error : 'public'	c:\users\gautam\music\taskspace\TaskSpace.h	626	1	futureTaskSpace
Error	98	error C2059: syntax error : 'public'	c:\users\gautam\music\taskspace\TaskSpace.h	627	1	futureTaskSpace
Error	160	error C2059: syntax error : 'public'	c:\users\gautam\music\taskspace\TaskSpace.h	622	1	futureTaskSpace
Error	170	error C2059: syntax error : 'public'	c:\users\gautam\music\taskspace\TaskSpace.h	623	1	futureTaskSpace
Error	178	error C2059: syntax error : 'public'	c:\users\gautam\music\taskspace\TaskSpace.h	624	1	futureTaskSpace
Error	186	error C2059: syntax error : 'public'	c:\users\gautam\music\taskspace\TaskSpace.h	625	1	futureTaskSpace
Error	196	error C2059: syntax error : 'public'	c:\users\gautam\music\taskspace\TaskSpace.h	626	1	futureTaskSpace
Error	206	error C2059: syntax error : 'public'	c:\users\gautam\music\taskspace\TaskSpace.h	627	1	futureTaskSpace

Error	46	error C2065: 'm_gravity' : undeclared identifier	c:\users\gautam\music\taskspace\TaskSpace.h	229	1	futureTaskSpace
Error	154	error C2065: 'm_gravity' : undeclared identifier	c:\users\gautam\music\taskspace\TaskSpace.h	229	1	futureTaskSpace
Error	262	error C2065: 'm_gravity' : undeclared identifier	c:\users\gautam\music\taskspace\TaskSpace.h	229	1	futureTaskSpace
Error	36	error C2065: 'm_inertia' : undeclared identifier	c:\users\gautam\music\taskspace\TaskSpace.h	224	1	futureTaskSpace
Error	72	error C2065: 'm_inertia' : undeclared identifier	c:\users\gautam\music\taskspace\TaskSpace.h	624	1	futureTaskSpace
Error	144	error C2065: 'm_inertia' : undeclared identifier	c:\users\gautam\music\taskspace\TaskSpace.h	224	1	futureTaskSpace
Error	180	error C2065: 'm_inertia' : undeclared identifier	c:\users\gautam\music\taskspace\TaskSpace.h	624	1	futureTaskSpace
Error	252	error C2065: 'm_inertia' : undeclared identifier	c:\users\gautam\music\taskspace\TaskSpace.h	224	1	futureTaskSpace
Error	288	error C2065: 'm_inertia' : undeclared identifier	c:\users\gautam\music\taskspace\TaskSpace.h	624	1	futureTaskSpace

Error	152	error C2065: 'm_inertialForces' : undeclared identifier	c:\users\gautam\music\taskspace\TaskSpace.h	228	1	futureTaskSpace
Error	260	error C2065: 'm_inertialForces' : undeclared identifier	c:\users\gautam\music\taskspace\TaskSpace.h	228	1	futureTaskSpace
Error	55	error C2065: 'm_jacobian' : undeclared identifier	c:\users\gautam\music\taskspace\TaskSpace.h	622	1	futureTaskSpace
Error	163	error C2065: 'm_jacobian' : undeclared identifier	c:\users\gautam\music\taskspace\TaskSpace.h	622	1	futureTaskSpace
Error	271	error C2065: 'm_jacobian' : undeclared identifier	c:\users\gautam\music\taskspace\TaskSpace.h	622	1	futureTaskSpace
Error	40	error C2065: 'm_jacobianInverse' : undeclared identifier	c:\users\gautam\music\taskspace\TaskSpace.h	226	1	futureTaskSpace
Error	92	error C2065: 'm_jacobianInverse' : undeclared identifier	c:\users\gautam\music\taskspace\TaskSpace.h	626	1	futureTaskSpace
Error	148	error C2065: 'm_jacobianInverse' : undeclared identifier	c:\users\gautam\music\taskspace\TaskSpace.h	226	1	futureTaskSpace
Error	200	error C2065: 'm_jacobianInverse' : undeclared identifier	c:\users\gautam\music\taskspace\TaskSpace.h	626	1	futureTaskSpace
Error	256	error C2065: 'm_jacobianInverse' : undeclared identifier	c:\users\gautam\music\taskspace\TaskSpace.h	226	1	futureTaskSpace
Error	308	error C2065: 'm_jacobianInverse' : undeclared identifier	c:\users\gautam\music\taskspace\TaskSpace.h	626	1	futureTaskSpace
Error	42	error C2065: 'm_jacobianInverseTranspose' : undeclared identifier	c:\users\gautam\music\taskspace\TaskSpace.h	227	1	futureTaskSpace
Error	102	error C2065: 'm_jacobianInverseTranspose' : undeclared identifier	c:\users\gautam\music\taskspace\TaskSpace.h	627	1	futureTaskSpace
Error	150	error C2065: 'm_jacobianInverseTranspose' : undeclared identifier	c:\users\gautam\music\taskspace\TaskSpace.h	227	1	futureTaskSpace
Error	210	error C2065: 'm_jacobianInverseTranspose' : undeclared identifier	c:\users\gautam\music\taskspace\TaskSpace.h	627	1	futureTaskSpace
Error	258	error C2065: 'm_jacobianInverseTranspose' : undeclared identifier	c:\users\gautam\music\taskspace\TaskSpace.h	227	1	futureTaskSpace
Error	318	error C2065: 'm_jacobianInverseTranspose' : undeclared identifier	c:\users\gautam\music\taskspace\TaskSpace.h	627	1	futureTaskSpace
Error	34	error C2065: 'm_jacobianTranspose' : undeclared identifier	c:\users\gautam\music\taskspace\TaskSpace.h	223	1	futureTaskSpace
Error	66	error C2065: 'm_jacobianTranspose' : undeclared identifier	c:\users\gautam\music\taskspace\TaskSpace.h	623	1	futureTaskSpace
Error	142	error C2065: 'm_jacobianTranspose' : undeclared identifier	c:\users\gautam\music\taskspace\TaskSpace.h	223	1	futureTaskSpace
Error	174	error C2065: 'm_jacobianTranspose' : undeclared identifier	c:\users\gautam\music\taskspace\TaskSpace.h	623	1	futureTaskSpace
Error	250	error C2065: 'm_jacobianTranspose' : undeclared identifier	c:\users\gautam\music\taskspace\TaskSpace.h	223	1	futureTaskSpace
Error	282	error C2065: 'm_jacobianTranspose' : undeclared identifier	c:\users\gautam\music\taskspace\TaskSpace.h	623	1	futureTaskSpace
Error	48	error C2065: 'm_nullspace' : undeclared identifier	c:\users\gautam\music\taskspace\TaskSpace.h	230	1	futureTaskSpace
Error	156	error C2065: 'm_nullspace' : undeclared identifier	c:\users\gautam\music\taskspace\TaskSpace.h	230	1	futureTaskSpace
Error	264	error C2065: 'm_nullspace' : undeclared identifier	c:\users\gautam\music\taskspace\TaskSpace.h	230	1	futureTaskSpace
Error	50	error C2065: 'm_nullspaceTranspose' : undeclared identifier	c:\users\gautam\music\taskspace\TaskSpace.h	231	1	futureTaskSpace
Error	158	error C2065: 'm_nullspaceTranspose' : undeclared identifier	c:\users\gautam\music\taskspace\TaskSpace.h	231	1	futureTaskSpace
Error	266	error C2065: 'm_nullspaceTranspose' : undeclared identifier	c:\users\gautam\music\taskspace\TaskSpace.h	231	1	futureTaskSpace
Error	56	error C2086: 'const int OpenSim::Jacobian' : redefinition	c:\users\gautam\music\taskspace\TaskSpace.h	622	1	futureTaskSpace
Error	164	error C2086: 'const int OpenSim::Jacobian' : redefinition	c:\users\gautam\music\taskspace\TaskSpace.h	622	1	futureTaskSpace
Error	272	error C2086: 'const int OpenSim::Jacobian' : redefinition	c:\users\gautam\music\taskspace\TaskSpace.h	622	1	futureTaskSpace
Error	53	error C2143: syntax error : missing ';' before '&'	c:\users\gautam\music\taskspace\TaskSpace.h	622	1	futureTaskSpace
Error	63	error C2143: syntax error : missing ';' before '&'	c:\users\gautam\music\taskspace\TaskSpace.h	623	1	futureTaskSpace
Error	79	error C2143: syntax error : missing ';' before '&'	c:\users\gautam\music\taskspace\TaskSpace.h	625	1	futureTaskSpace
Error	89	error C2143: syntax error : missing ';' before '&'	c:\users\gautam\music\taskspace\TaskSpace.h	626	1	futureTaskSpace
Error	99	error C2143: syntax error : missing ';' before '&'	c:\users\gautam\music\taskspace\TaskSpace.h	627	1	futureTaskSpace
Error	161	error C2143: syntax error : missing ';' before '&'	c:\users\gautam\music\taskspace\TaskSpace.h	622	1	futureTaskSpace
Error	171	error C2143: syntax error : missing ';' before '&'	c:\users\gautam\music\taskspace\TaskSpace.h	623	1	futureTaskSpace
Error	187	error C2143: syntax error : missing ';' before '&'	c:\users\gautam\music\taskspace\TaskSpace.h	625	1	futureTaskSpace
Error	197	error C2143: syntax error : missing ';' before '&'	c:\users\gautam\music\taskspace\TaskSpace.h	626	1	futureTaskSpace
Error	207	error C2143: syntax error : missing ';' before '&'	c:\users\gautam\music\taskspace\TaskSpace.h	627	1	futureTaskSpace
Error	269	error C2143: syntax error : missing ';' before '&'	c:\users\gautam\music\taskspace\TaskSpace.h	622	1	futureTaskSpace
Error	279	error C2143: syntax error : missing ';' before '&'	c:\users\gautam\music\taskspace\TaskSpace.h	623	1	futureTaskSpace
Error	295	error C2143: syntax error : missing ';' before '&'	c:\users\gautam\music\taskspace\TaskSpace.h	625	1	futureTaskSpace
Error	305	error C2143: syntax error : missing ';' before '&'	c:\users\gautam\music\taskspace\TaskSpace.h	626	1	futureTaskSpace
Error	315	error C2143: syntax error : missing ';' before '&'	c:\users\gautam\music\taskspace\TaskSpace.h	627	1	futureTaskSpace
Error	28	error C2143: syntax error : missing ';' before '}'	c:\users\gautam\music\taskspace\TaskSpace.h	622	1	futureTaskSpace
Error	136	error C2143: syntax error : missing ';' before '}'	c:\users\gautam\music\taskspace\TaskSpace.h	622	1	futureTaskSpace
Error	244	error C2143: syntax error : missing ';' before '}'	c:\users\gautam\music\taskspace\TaskSpace.h	622	1	futureTaskSpace
Error	26	error C2143: syntax error : missing ';' before '<'	c:\users\gautam\music\taskspace\TaskSpace.h	622	1	futureTaskSpace
Error	134	error C2143: syntax error : missing ';' before '<'	c:\users\gautam\music\taskspace\TaskSpace.h	622	1	futureTaskSpace
Error	242	error C2143: syntax error : missing ';' before '<'	c:\users\gautam\music\taskspace\TaskSpace.h	622	1	futureTaskSpace
Error	75	error C2146: syntax error : missing ';' before identifier 'm_inertiaInverse'	c:\users\gautam\music\taskspace\TaskSpace.h	625	1	futureTaskSpace
Error	183	error C2146: syntax error : missing ';' before identifier 'm_inertiaInverse'	c:\users\gautam\music\taskspace\TaskSpace.h	625	1	futureTaskSpace
Error	291	error C2146: syntax error : missing ';' before identifier 'm_inertiaInverse'	c:\users\gautam\music\taskspace\TaskSpace.h	625	1	futureTaskSpace

Error	91	error C2270: 'getDynamicallyConsistentJacobianInverse' : modifiers not allowed on nonmember functions	c:\users\gautam\music\taskspace\TaskSpace.h	626	1	futureTaskSpace
Error	199	error C2270: 'getDynamicallyConsistentJacobianInverse' : modifiers not allowed on nonmember functions	c:\users\gautam\music\taskspace\TaskSpace.h	626	1	futureTaskSpace
Error	307	error C2270: 'getDynamicallyConsistentJacobianInverse' : modifiers not allowed on nonmember functions	c:\users\gautam\music\taskspace\TaskSpace.h	626	1	futureTaskSpace
Error	101	error C2270: 'getDynamicallyConsistentJacobianInverseTranspose' : modifiers not allowed on nonmember functions	c:\users\gautam\music\taskspace\TaskSpace.h	627	1	futureTaskSpace
Error	209	error C2270: 'getDynamicallyConsistentJacobianInverseTranspose' : modifiers not allowed on nonmember functions	c:\users\gautam\music\taskspace\TaskSpace.h	627	1	futureTaskSpace
Error	317	error C2270: 'getDynamicallyConsistentJacobianInverseTranspose' : modifiers not allowed on nonmember functions	c:\users\gautam\music\taskspace\TaskSpace.h	627	1	futureTaskSpace
Error	71	error C2270: 'getInertia' : modifiers not allowed on nonmember functions	c:\users\gautam\music\taskspace\TaskSpace.h	624	1	futureTaskSpace
Error	179	error C2270: 'getInertia' : modifiers not allowed on nonmember functions	c:\users\gautam\music\taskspace\TaskSpace.h	624	1	futureTaskSpace
Error	287	error C2270: 'getInertia' : modifiers not allowed on nonmember functions	c:\users\gautam\music\taskspace\TaskSpace.h	624	1	futureTaskSpace
Error	81	error C2270: 'getInertiaInverse' : modifiers not allowed on nonmember functions	c:\users\gautam\music\taskspace\TaskSpace.h	625	1	futureTaskSpace
Error	189	error C2270: 'getInertiaInverse' : modifiers not allowed on nonmember functions	c:\users\gautam\music\taskspace\TaskSpace.h	625	1	futureTaskSpace
Error	297	error C2270: 'getInertiaInverse' : modifiers not allowed on nonmember functions	c:\users\gautam\music\taskspace\TaskSpace.h	625	1	futureTaskSpace
Error	54	error C2270: 'getJacobian' : modifiers not allowed on nonmember functions	c:\users\gautam\music\taskspace\TaskSpace.h	622	1	futureTaskSpace
Error	162	error C2270: 'getJacobian' : modifiers not allowed on nonmember functions	c:\users\gautam\music\taskspace\TaskSpace.h	622	1	futureTaskSpace
Error	270	error C2270: 'getJacobian' : modifiers not allowed on nonmember functions	c:\users\gautam\music\taskspace\TaskSpace.h	622	1	futureTaskSpace
Error	65	error C2270: 'getJacobianTranspose' : modifiers not allowed on nonmember functions	c:\users\gautam\music\taskspace\TaskSpace.h	623	1	futureTaskSpace
Error	173	error C2270: 'getJacobianTranspose' : modifiers not allowed on nonmember functions	c:\users\gautam\music\taskspace\TaskSpace.h	623	1	futureTaskSpace
Error	281	error C2270: 'getJacobianTranspose' : modifiers not allowed on nonmember functions	c:\users\gautam\music\taskspace\TaskSpace.h	623	1	futureTaskSpace
Error	57	error C2270: 'J' : modifiers not allowed on nonmember functions	c:\users\gautam\music\taskspace\TaskSpace.h	622	1	futureTaskSpace
Error	165	error C2270: 'J' : modifiers not allowed on nonmember functions	c:\users\gautam\music\taskspace\TaskSpace.h	622	1	futureTaskSpace
Error	273	error C2270: 'J' : modifiers not allowed on nonmember functions	c:\users\gautam\music\taskspace\TaskSpace.h	622	1	futureTaskSpace
Error	93	error C2270: 'JBar' : modifiers not allowed on nonmember functions	c:\users\gautam\music\taskspace\TaskSpace.h	626	1	futureTaskSpace
Error	201	error C2270: 'JBar' : modifiers not allowed on nonmember functions	c:\users\gautam\music\taskspace\TaskSpace.h	626	1	futureTaskSpace
Error	309	error C2270: 'JBar' : modifiers not allowed on nonmember functions	c:\users\gautam\music\taskspace\TaskSpace.h	626	1	futureTaskSpace
Error	103	error C2270: 'JBarT' : modifiers not allowed on nonmember functions	c:\users\gautam\music\taskspace\TaskSpace.h	627	1	futureTaskSpace
Error	211	error C2270: 'JBarT' : modifiers not allowed on nonmember functions	c:\users\gautam\music\taskspace\TaskSpace.h	627	1	futureTaskSpace
Error	319	error C2270: 'JBarT' : modifiers not allowed on nonmember functions	c:\users\gautam\music\taskspace\TaskSpace.h	627	1	futureTaskSpace
Error	67	error C2270: 'JT' : modifiers not allowed on nonmember functions	c:\users\gautam\music\taskspace\TaskSpace.h	623	1	futureTaskSpace
Error	175	error C2270: 'JT' : modifiers not allowed on nonmember functions	c:\users\gautam\music\taskspace\TaskSpace.h	623	1	futureTaskSpace
Error	283	error C2270: 'JT' : modifiers not allowed on nonmember functions	c:\users\gautam\music\taskspace\TaskSpace.h	623	1	futureTaskSpace
Error	73	error C2270: 'Lambda' : modifiers not allowed on nonmember functions	c:\users\gautam\music\taskspace\TaskSpace.h	624	1	futureTaskSpace
Error	181	error C2270: 'Lambda' : modifiers not allowed on nonmember functions	c:\users\gautam\music\taskspace\TaskSpace.h	624	1	futureTaskSpace
Error	289	error C2270: 'Lambda' : modifiers not allowed on nonmember functions	c:\users\gautam\music\taskspace\TaskSpace.h	624	1	futureTaskSpace
Error	83	error C2270: 'LambdaInv' : modifiers not allowed on nonmember functions	c:\users\gautam\music\taskspace\TaskSpace.h	625	1	futureTaskSpace
Error	191	error C2270: 'LambdaInv' : modifiers not allowed on nonmember functions	c:\users\gautam\music\taskspace\TaskSpace.h	625	1	futureTaskSpace
Error	299	error C2270: 'LambdaInv' : modifiers not allowed on nonmember functions	c:\users\gautam\music\taskspace\TaskSpace.h	625	1	futureTaskSpace
Error	90	error C2373: 'OpenSim::DynamicallyConsistentJacobianInverse' : redefinition; different type modifiers	c:\users\gautam\music\taskspace\TaskSpace.h	626	1	futureTaskSpace
Error	198	error C2373: 'OpenSim::DynamicallyConsistentJacobianInverse' : redefinition; different type modifiers	c:\users\gautam\music\taskspace\TaskSpace.h	626	1	futureTaskSpace
Error	306	error C2373: 'OpenSim::DynamicallyConsistentJacobianInverse' : redefinition; different type modifiers	c:\users\gautam\music\taskspace\TaskSpace.h	626	1	futureTaskSpace
Error	100	error C2373: 'OpenSim::DynamicallyConsistentJacobianInverseTranspose' : redefinition; different type modifiers	c:\users\gautam\music\taskspace\TaskSpace.h	627	1	futureTaskSpace
Error	208	error C2373: 'OpenSim::DynamicallyConsistentJacobianInverseTranspose' : redefinition; different type modifiers	c:\users\gautam\music\taskspace\TaskSpace.h	627	1	futureTaskSpace
Error	316	error C2373: 'OpenSim::DynamicallyConsistentJacobianInverseTranspose' : redefinition; different type modifiers	c:\users\gautam\music\taskspace\TaskSpace.h	627	1	futureTaskSpace
Error	80	error C2373: 'OpenSim::InertiaInverse' : redefinition; different type modifiers	c:\users\gautam\music\taskspace\TaskSpace.h	625	1	futureTaskSpace
Error	188	error C2373: 'OpenSim::InertiaInverse' : redefinition; different type modifiers	c:\users\gautam\music\taskspace\TaskSpace.h	625	1	futureTaskSpace
Error	296	error C2373: 'OpenSim::InertiaInverse' : redefinition; different type modifiers	c:\users\gautam\music\taskspace\TaskSpace.h	625	1	futureTaskSpace
Error	64	error C2373: 'OpenSim::JacobianTranspose' : redefinition; different type modifiers	c:\users\gautam\music\taskspace\TaskSpace.h	623	1	futureTaskSpace
Error	172	error C2373: 'OpenSim::JacobianTranspose' : redefinition; different type modifiers	c:\users\gautam\music\taskspace\TaskSpace.h	623	1	futureTaskSpace
Error	280	error C2373: 'OpenSim::JacobianTranspose' : redefinition; different type modifiers	c:\users\gautam\music\taskspace\TaskSpace.h	623	1	futureTaskSpace
Error	69	error C2470: 'm_inertia' : looks like a function definition, but there is no parameter list; skipping apparent body	c:\users\gautam\music\taskspace\TaskSpace.h	624	1	futureTaskSpace
Error	177	error C2470: 'm_inertia' : looks like a function definition, but there is no parameter list; skipping apparent body	c:\users\gautam\music\taskspace\TaskSpace.h	624	1	futureTaskSpace
Error	285	error C2470: 'm_inertia' : looks like a function definition, but there is no parameter list; skipping apparent body	c:\users\gautam\music\taskspace\TaskSpace.h	624	1	futureTaskSpace
Error	77	error C2470: 'm_inertiaInverse' : looks like a function definition, but there is no parameter list; skipping apparent body	c:\users\gautam\music\taskspace\TaskSpace.h	625	1	futureTaskSpace
Error	185	error C2470: 'm_inertiaInverse' : looks like a function definition, but there is no parameter list; skipping apparent body	c:\users\gautam\music\taskspace\TaskSpace.h	625	1	futureTaskSpace
Error	293	error C2470: 'm_inertiaInverse' : looks like a function definition, but there is no parameter list; skipping apparent body	c:\users\gautam\music\taskspace\TaskSpace.h	625	1	futureTaskSpace
Error	107	error C2470: 'm_inertialForces' : looks like a function definition, but there is no parameter list; skipping apparent body	c:\users\gautam\music\taskspace\TaskSpace.h	628	1	futureTaskSpace
Error	215	error C2470: 'm_inertialForces' : looks like a function definition, but there is no parameter list; skipping apparent body	c:\users\gautam\music\taskspace\TaskSpace.h	628	1	futureTaskSpace
Error	323	error C2470: 'm_inertialForces' : looks like a function definition, but there is no parameter list; skipping apparent body	c:\users\gautam\music\taskspace\TaskSpace.h	628	1	futureTaskSpace
Error	87	error C2470: 'm_jacobianInverse' : looks like a function definition, but there is no parameter list; skipping apparent body	c:\users\gautam\music\taskspace\TaskSpace.h	626	1	futureTaskSpace
Error	195	error C2470: 'm_jacobianInverse' : looks like a function definition, but there is no parameter list; skipping apparent body	c:\users\gautam\music\taskspace\TaskSpace.h	626	1	futureTaskSpace
Error	303	error C2470: 'm_jacobianInverse' : looks like a function definition, but there is no parameter list; skipping apparent body	c:\users\gautam\music\taskspace\TaskSpace.h	626	1	futureTaskSpace
Error	97	error C2470: 'm_jacobianInverseTranspose' : looks like a function definition, but there is no parameter list; skipping apparent body	c:\users\gautam\music\taskspace\TaskSpace.h	627	1	futureTaskSpace
Error	205	error C2470: 'm_jacobianInverseTranspose' : looks like a function definition, but there is no parameter list; skipping apparent body	c:\users\gautam\music\taskspace\TaskSpace.h	627	1	futureTaskSpace
Error	313	error C2470: 'm_jacobianInverseTranspose' : looks like a function definition, but there is no parameter list; skipping apparent body	c:\users\gautam\music\taskspace\TaskSpace.h	627	1	futureTaskSpace
Error	61	error C2470: 'm_jacobianTranspose' : looks like a function definition, but there is no parameter list; skipping apparent body	c:\users\gautam\music\taskspace\TaskSpace.h	623	1	futureTaskSpace
Error	169	error C2470: 'm_jacobianTranspose' : looks like a function definition, but there is no parameter list; skipping apparent body	c:\users\gautam\music\taskspace\TaskSpace.h	623	1	futureTaskSpace
Error	277	error C2470: 'm_jacobianTranspose' : looks like a function definition, but there is no parameter list; skipping apparent body	c:\users\gautam\music\taskspace\TaskSpace.h	623	1	futureTaskSpace
Error	25	error C2473: 'm_jacobian' : looks like a function definition, but there is no parameter list.	c:\users\gautam\music\taskspace\TaskSpace.h	622	1	futureTaskSpace
Error	133	error C2473: 'm_jacobian' : looks like a function definition, but there is no parameter list.	c:\users\gautam\music\taskspace\TaskSpace.h	622	1	futureTaskSpace
Error	241	error C2473: 'm_jacobian' : looks like a function definition, but there is no parameter list.	c:\users\gautam\music\taskspace\TaskSpace.h	622	1	futureTaskSpace
Error	1	error C2504: 'Component' : base class undefined	c:\users\gautam\music\taskspace\TaskSpace.h	274	1	futureTaskSpace
Error	109	error C2504: 'Component' : base class undefined	c:\users\gautam\music\taskspace\TaskSpace.h	274	1	futureTaskSpace
Error	217	error C2504: 'Component' : base class undefined	c:\users\gautam\music\taskspace\TaskSpace.h	274	1	futureTaskSpace
Error	11	error C3668: 'OpenSim::TaskSpace::DynamicallyConsistentJacobianInverse::clone' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	459	1	futureTaskSpace
Error	119	error C3668: 'OpenSim::TaskSpace::DynamicallyConsistentJacobianInverse::clone' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	459	1	futureTaskSpace
Error	227	error C3668: 'OpenSim::TaskSpace::DynamicallyConsistentJacobianInverse::clone' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	459	1	futureTaskSpace
Error	12	error C3668: 'OpenSim::TaskSpace::DynamicallyConsistentJacobianInverse::getConcreteClassName' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	459	1	futureTaskSpace
Error	120	error C3668: 'OpenSim::TaskSpace::DynamicallyConsistentJacobianInverse::getConcreteClassName' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	459	1	futureTaskSpace
Error	228	error C3668: 'OpenSim::TaskSpace::DynamicallyConsistentJacobianInverse::getConcreteClassName' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	459	1	futureTaskSpace
Error	13	error C3668: 'OpenSim::TaskSpace::DynamicallyConsistentJacobianInverseTranspose::clone' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	490	1	futureTaskSpace
Error	121	error C3668: 'OpenSim::TaskSpace::DynamicallyConsistentJacobianInverseTranspose::clone' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	490	1	futureTaskSpace
Error	229	error C3668: 'OpenSim::TaskSpace::DynamicallyConsistentJacobianInverseTranspose::clone' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	490	1	futureTaskSpace
Error	14	error C3668: 'OpenSim::TaskSpace::DynamicallyConsistentJacobianInverseTranspose::getConcreteClassName' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	490	1	futureTaskSpace
Error	122	error C3668: 'OpenSim::TaskSpace::DynamicallyConsistentJacobianInverseTranspose::getConcreteClassName' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	490	1	futureTaskSpace
Error	230	error C3668: 'OpenSim::TaskSpace::DynamicallyConsistentJacobianInverseTranspose::getConcreteClassName' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	490	1	futureTaskSpace
Error	30	error C3668: 'OpenSim::TaskSpace::extendConnectToModel' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	218	1	futureTaskSpace
Error	138	error C3668: 'OpenSim::TaskSpace::extendConnectToModel' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	218	1	futureTaskSpace
Error	246	error C3668: 'OpenSim::TaskSpace::extendConnectToModel' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	218	1	futureTaskSpace
Error	19	error C3668: 'OpenSim::TaskSpace::Gravity::clone' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	539	1	futureTaskSpace
Error	127	error C3668: 'OpenSim::TaskSpace::Gravity::clone' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	539	1	futureTaskSpace
Error	235	error C3668: 'OpenSim::TaskSpace::Gravity::clone' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	539	1	futureTaskSpace
Error	20	error C3668: 'OpenSim::TaskSpace::Gravity::getConcreteClassName' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	539	1	futureTaskSpace
Error	128	error C3668: 'OpenSim::TaskSpace::Gravity::getConcreteClassName' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	539	1	futureTaskSpace
Error	236	error C3668: 'OpenSim::TaskSpace::Gravity::getConcreteClassName' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	539	1	futureTaskSpace
Error	7	error C3668: 'OpenSim::TaskSpace::Inertia::clone' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	410	1	futureTaskSpace
Error	115	error C3668: 'OpenSim::TaskSpace::Inertia::clone' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	410	1	futureTaskSpace
Error	223	error C3668: 'OpenSim::TaskSpace::Inertia::clone' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	410	1	futureTaskSpace
Error	8	error C3668: 'OpenSim::TaskSpace::Inertia::getConcreteClassName' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	410	1	futureTaskSpace
Error	116	error C3668: 'OpenSim::TaskSpace::Inertia::getConcreteClassName' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	410	1	futureTaskSpace
Error	224	error C3668: 'OpenSim::TaskSpace::Inertia::getConcreteClassName' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	410	1	futureTaskSpace
Error	9	error C3668: 'OpenSim::TaskSpace::InertiaInverse::clone' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	437	1	futureTaskSpace
Error	117	error C3668: 'OpenSim::TaskSpace::InertiaInverse::clone' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	437	1	futureTaskSpace
Error	225	error C3668: 'OpenSim::TaskSpace::InertiaInverse::clone' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	437	1	futureTaskSpace
Error	10	error C3668: 'OpenSim::TaskSpace::InertiaInverse::getConcreteClassName' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	437	1	futureTaskSpace
Error	118	error C3668: 'OpenSim::TaskSpace::InertiaInverse::getConcreteClassName' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	437	1	futureTaskSpace
Error	226	error C3668: 'OpenSim::TaskSpace::InertiaInverse::getConcreteClassName' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	437	1	futureTaskSpace
Error	16	error C3668: 'OpenSim::TaskSpace::InertialForces::clone' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	520	1	futureTaskSpace
Error	124	error C3668: 'OpenSim::TaskSpace::InertialForces::clone' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	520	1	futureTaskSpace
Error	232	error C3668: 'OpenSim::TaskSpace::InertialForces::clone' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	520	1	futureTaskSpace
Error	17	error C3668: 'OpenSim::TaskSpace::InertialForces::getConcreteClassName' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	520	1	futureTaskSpace
Error	125	error C3668: 'OpenSim::TaskSpace::InertialForces::getConcreteClassName' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	520	1	futureTaskSpace
Error	233	error C3668: 'OpenSim::TaskSpace::InertialForces::getConcreteClassName' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	520	1	futureTaskSpace
Error	3	error C3668: 'OpenSim::TaskSpace::Jacobian::clone' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	340	1	futureTaskSpace
Error	111	error C3668: 'OpenSim::TaskSpace::Jacobian::clone' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	340	1	futureTaskSpace
Error	219	error C3668: 'OpenSim::TaskSpace::Jacobian::clone' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	340	1	futureTaskSpace
Error	4	error C3668: 'OpenSim::TaskSpace::Jacobian::getConcreteClassName' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	340	1	futureTaskSpace
Error	112	error C3668: 'OpenSim::TaskSpace::Jacobian::getConcreteClassName' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	340	1	futureTaskSpace
Error	220	error C3668: 'OpenSim::TaskSpace::Jacobian::getConcreteClassName' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	340	1	futureTaskSpace
Error	5	error C3668: 'OpenSim::TaskSpace::JacobianTranspose::clone' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	368	1	futureTaskSpace
Error	113	error C3668: 'OpenSim::TaskSpace::JacobianTranspose::clone' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	368	1	futureTaskSpace
Error	221	error C3668: 'OpenSim::TaskSpace::JacobianTranspose::clone' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	368	1	futureTaskSpace
Error	6	error C3668: 'OpenSim::TaskSpace::JacobianTranspose::getConcreteClassName' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	368	1	futureTaskSpace
Error	114	error C3668: 'OpenSim::TaskSpace::JacobianTranspose::getConcreteClassName' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	368	1	futureTaskSpace
Error	222	error C3668: 'OpenSim::TaskSpace::JacobianTranspose::getConcreteClassName' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	368	1	futureTaskSpace
Error	21	error C3668: 'OpenSim::TaskSpace::NullspaceProjection::clone' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	569	1	futureTaskSpace
Error	129	error C3668: 'OpenSim::TaskSpace::NullspaceProjection::clone' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	569	1	futureTaskSpace
Error	237	error C3668: 'OpenSim::TaskSpace::NullspaceProjection::clone' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	569	1	futureTaskSpace
Error	22	error C3668: 'OpenSim::TaskSpace::NullspaceProjection::getConcreteClassName' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	569	1	futureTaskSpace
Error	130	error C3668: 'OpenSim::TaskSpace::NullspaceProjection::getConcreteClassName' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	569	1	futureTaskSpace
Error	238	error C3668: 'OpenSim::TaskSpace::NullspaceProjection::getConcreteClassName' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	569	1	futureTaskSpace
Error	23	error C3668: 'OpenSim::TaskSpace::NullspaceProjectionTranspose::clone' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	597	1	futureTaskSpace
Error	131	error C3668: 'OpenSim::TaskSpace::NullspaceProjectionTranspose::clone' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	597	1	futureTaskSpace
Error	239	error C3668: 'OpenSim::TaskSpace::NullspaceProjectionTranspose::clone' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	597	1	futureTaskSpace
Error	24	error C3668: 'OpenSim::TaskSpace::NullspaceProjectionTranspose::getConcreteClassName' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	597	1	futureTaskSpace
Error	132	error C3668: 'OpenSim::TaskSpace::NullspaceProjectionTranspose::getConcreteClassName' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	597	1	futureTaskSpace
Error	240	error C3668: 'OpenSim::TaskSpace::NullspaceProjectionTranspose::getConcreteClassName' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	597	1	futureTaskSpace
Error	15	error C3668: 'OpenSim::TaskSpace::TaskSpaceQuantity<T,S>::extendAddToSystem' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	309	1	futureTaskSpace
Error	123	error C3668: 'OpenSim::TaskSpace::TaskSpaceQuantity<T,S>::extendAddToSystem' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	309	1	futureTaskSpace
Error	231	error C3668: 'OpenSim::TaskSpace::TaskSpaceQuantity<T,S>::extendAddToSystem' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	309	1	futureTaskSpace
Error	2	error C3668: 'OpenSim::TaskSpace::TaskSpaceQuantity<T>::extendAddToSystem' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	309	1	futureTaskSpace
Error	18	error C3668: 'OpenSim::TaskSpace::TaskSpaceQuantity<T>::extendAddToSystem' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	309	1	futureTaskSpace
Error	110	error C3668: 'OpenSim::TaskSpace::TaskSpaceQuantity<T>::extendAddToSystem' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	309	1	futureTaskSpace
Error	126	error C3668: 'OpenSim::TaskSpace::TaskSpaceQuantity<T>::extendAddToSystem' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	309	1	futureTaskSpace
Error	218	error C3668: 'OpenSim::TaskSpace::TaskSpaceQuantity<T>::extendAddToSystem' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	309	1	futureTaskSpace
Error	234	error C3668: 'OpenSim::TaskSpace::TaskSpaceQuantity<T>::extendAddToSystem' : method with override specifier 'override' did not override any base class methods	c:\users\gautam\music\taskspace\TaskSpace.h	309	1	futureTaskSpace
Error	32	error C3861: 'getGravity': identifier not found	c:\users\gautam\music\taskspace\TaskSpace.h	211	1	futureTaskSpace
Error	140	error C3861: 'getGravity': identifier not found	c:\users\gautam\music\taskspace\TaskSpace.h	211	1	futureTaskSpace
Error	248	error C3861: 'getGravity': identifier not found	c:\users\gautam\music\taskspace\TaskSpace.h	211	1	futureTaskSpace
Error	27	error C4430: missing type specifier - int assumed. Note: C++ does not support default-int	c:\users\gautam\music\taskspace\TaskSpace.h	622	1	futureTaskSpace
Error	60	error C4430: missing type specifier - int assumed. Note: C++ does not support default-int	c:\users\gautam\music\taskspace\TaskSpace.h	623	1	futureTaskSpace
Error	76	error C4430: missing type specifier - int assumed. Note: C++ does not support default-int	c:\users\gautam\music\taskspace\TaskSpace.h	625	1	futureTaskSpace
Error	86	error C4430: missing type specifier - int assumed. Note: C++ does not support default-int	c:\users\gautam\music\taskspace\TaskSpace.h	626	1	futureTaskSpace
Error	96	error C4430: missing type specifier - int assumed. Note: C++ does not support default-int	c:\users\gautam\music\taskspace\TaskSpace.h	627	1	futureTaskSpace
Error	106	error C4430: missing type specifier - int assumed. Note: C++ does not support default-int	c:\users\gautam\music\taskspace\TaskSpace.h	628	1	futureTaskSpace
Error	135	error C4430: missing type specifier - int assumed. Note: C++ does not support default-int	c:\users\gautam\music\taskspace\TaskSpace.h	622	1	futureTaskSpace
Error	168	error C4430: missing type specifier - int assumed. Note: C++ does not support default-int	c:\users\gautam\music\taskspace\TaskSpace.h	623	1	futureTaskSpace
Error	184	error C4430: missing type specifier - int assumed. Note: C++ does not support default-int	c:\users\gautam\music\taskspace\TaskSpace.h	625	1	futureTaskSpace
Error	194	error C4430: missing type specifier - int assumed. Note: C++ does not support default-int	c:\users\gautam\music\taskspace\TaskSpace.h	626	1	futureTaskSpace
Error	204	error C4430: missing type specifier - int assumed. Note: C++ does not support default-int	c:\users\gautam\music\taskspace\TaskSpace.h	627	1	futureTaskSpace
Error	214	error C4430: missing type specifier - int assumed. Note: C++ does not support default-int	c:\users\gautam\music\taskspace\TaskSpace.h	628	1	futureTaskSpace
Error	243	error C4430: missing type specifier - int assumed. Note: C++ does not support default-int	c:\users\gautam\music\taskspace\TaskSpace.h	622	1	futureTaskSpace
Error	276	error C4430: missing type specifier - int assumed. Note: C++ does not support default-int	c:\users\gautam\music\taskspace\TaskSpace.h	623	1	futureTaskSpace
Error	292	error C4430: missing type specifier - int assumed. Note: C++ does not support default-int	c:\users\gautam\music\taskspace\TaskSpace.h	625	1	futureTaskSpace
Error	302	error C4430: missing type specifier - int assumed. Note: C++ does not support default-int	c:\users\gautam\music\taskspace\TaskSpace.h	626	1	futureTaskSpace
Error	312	error C4430: missing type specifier - int assumed. Note: C++ does not support default-int	c:\users\gautam\music\taskspace\TaskSpace.h	627	1	futureTaskSpace
Error	322	error C4430: missing type specifier - int assumed. Note: C++ does not support default-int	c:\users\gautam\music\taskspace\TaskSpace.h	628	1	futureTaskSpace
	362	IntelliSense: 'explicit' is not allowed	c:\Users\Gautam\Music\TaskSpace\OpenSim\Common\Object.h	683	2	futureTaskSpace
	370	IntelliSense: 'explicit' is not allowed	c:\Users\Gautam\Music\TaskSpace\OpenSim\Simulation\Model\ModelComponent.h	187	5	futureTaskSpace
	412	IntelliSense: 'explicit' is not allowed	c:\Users\Gautam\Music\TaskSpace\OpenSim\Simulation\Model\ModelComponent.h	924	9	futureTaskSpace
	422	IntelliSense: 'explicit' is not allowed	c:\Users\Gautam\Music\TaskSpace\OpenSim\Simulation\Model\ModelComponent.h	937	9	futureTaskSpace
	365	IntelliSense: "PropertyIndex" is not a type name	c:\Users\Gautam\Music\TaskSpace\OpenSim\Common\Object.h	758	5	futureTaskSpace
	346	IntelliSense: a type qualifier is not allowed on a nonmember function	c:\Users\Gautam\Music\TaskSpace\OpenSim\Common\Property.h	875	46	futureTaskSpace
	325	IntelliSense: cannot open source file "Simbody.h"	c:\Users\Gautam\Music\TaskSpace\OpenSim\Common\AbstractProperty.h	28	1	futureTaskSpace
	368	IntelliSense: cannot open source file "Simbody.h"	c:\Users\Gautam\Music\TaskSpace\OpenSim\Simulation\Model\ModelComponent.h	47	1	futureTaskSpace
	335	IntelliSense: cannot open source file "SimTKcommon.h"	c:\Users\Gautam\Music\TaskSpace\OpenSim\Common\PropertyDblVec.h	33	1	futureTaskSpace
	343	IntelliSense: class "OpenSim::SimpleProperty<<error-type>>" has no member "readSimplePropertyFromStream"	c:\Users\Gautam\Music\TaskSpace\OpenSim\Common\Property.h	855	1	futureTaskSpace
	345	IntelliSense: class "OpenSim::SimpleProperty<<error-type>>" has no member "writeSimplePropertyToStream"	c:\Users\Gautam\Music\TaskSpace\OpenSim\Common\Property.h	875	1	futureTaskSpace
	356	IntelliSense: expected a ')'	c:\Users\Gautam\Music\TaskSpace\OpenSim\Common\PropertyTable.h	172	65	futureTaskSpace
	364	IntelliSense: expected a ')'	c:\Users\Gautam\Music\TaskSpace\OpenSim\Common\Object.h	683	37	futureTaskSpace
	372	IntelliSense: expected a ')'	c:\Users\Gautam\Music\TaskSpace\OpenSim\Simulation\Model\ModelComponent.h	187	48	futureTaskSpace
	391	IntelliSense: expected a ')'	c:\Users\Gautam\Music\TaskSpace\OpenSim\Simulation\Model\ModelComponent.h	685	48	futureTaskSpace
	414	IntelliSense: expected a ')'	c:\Users\Gautam\Music\TaskSpace\OpenSim\Simulation\Model\ModelComponent.h	924	49	futureTaskSpace
	424	IntelliSense: expected a ')'	c:\Users\Gautam\Music\TaskSpace\OpenSim\Simulation\Model\ModelComponent.h	937	52	futureTaskSpace
	330	IntelliSense: expected a ';'	c:\Users\Gautam\Music\TaskSpace\OpenSim\Common\Property_Deprecated.h	149	57	futureTaskSpace
	332	IntelliSense: expected a ';'	c:\Users\Gautam\Music\TaskSpace\OpenSim\Common\Property_Deprecated.h	159	45	futureTaskSpace
	333	IntelliSense: expected a ';'	c:\Users\Gautam\Music\TaskSpace\OpenSim\Common\Property_Deprecated.h	206	42	futureTaskSpace
	334	IntelliSense: expected a ';'	c:\Users\Gautam\Music\TaskSpace\OpenSim\Common\Property_Deprecated.h	210	39	futureTaskSpace
	369	IntelliSense: expected a ';'	c:\Users\Gautam\Music\TaskSpace\OpenSim\Simulation\Model\ModelComponent.h	175	1	futureTaskSpace
	420	IntelliSense: expected a ';'	c:\Users\Gautam\Music\TaskSpace\OpenSim\Simulation\Model\ModelComponent.h	925	85	futureTaskSpace
	358	IntelliSense: expected an identifier	c:\Users\Gautam\Music\TaskSpace\OpenSim\Common\PropertyTable.h	177	36	futureTaskSpace
	409	IntelliSense: expected an identifier	c:\Users\Gautam\Music\TaskSpace\OpenSim\Simulation\Model\ModelComponent.h	900	35	futureTaskSpace
	415	IntelliSense: expected an identifier	c:\Users\Gautam\Music\TaskSpace\OpenSim\Simulation\Model\ModelComponent.h	924	62	futureTaskSpace
	417	IntelliSense: identifier "invalidates" is undefined	c:\Users\Gautam\Music\TaskSpace\OpenSim\Simulation\Model\ModelComponent.h	925	30	futureTaskSpace
	416	IntelliSense: identifier "invalidatesStage" is undefined	c:\Users\Gautam\Music\TaskSpace\OpenSim\Simulation\Model\ModelComponent.h	925	13	futureTaskSpace
	419	IntelliSense: identifier "order" is undefined	c:\Users\Gautam\Music\TaskSpace\OpenSim\Simulation\Model\ModelComponent.h	925	78	futureTaskSpace
	354	IntelliSense: identifier "PropertyIndex" is undefined	c:\Users\Gautam\Music\TaskSpace\OpenSim\Common\Property.h	1050	32	futureTaskSpace
	326	IntelliSense: name followed by '::' must be a class or namespace name	c:\Users\Gautam\Music\TaskSpace\OpenSim\Common\AbstractProperty.h	208	35	futureTaskSpace
	327	IntelliSense: name followed by '::' must be a class or namespace name	c:\Users\Gautam\Music\TaskSpace\OpenSim\Common\AbstractProperty.h	213	34	futureTaskSpace
	328	IntelliSense: name followed by '::' must be a class or namespace name	c:\Users\Gautam\Music\TaskSpace\OpenSim\Common\AbstractProperty.h	310	9	futureTaskSpace
	329	IntelliSense: name followed by '::' must be a class or namespace name	c:\Users\Gautam\Music\TaskSpace\OpenSim\Common\AbstractProperty.h	330	9	futureTaskSpace
	331	IntelliSense: name followed by '::' must be a class or namespace name	c:\Users\Gautam\Music\TaskSpace\OpenSim\Common\Property_Deprecated.h	158	9	futureTaskSpace
	336	IntelliSense: name followed by '::' must be a class or namespace name	c:\Users\Gautam\Music\TaskSpace\OpenSim\Common\Property.h	637	28	futureTaskSpace
	337	IntelliSense: name followed by '::' must be a class or namespace name	c:\Users\Gautam\Music\TaskSpace\OpenSim\Common\Property.h	639	27	futureTaskSpace
	338	IntelliSense: name followed by '::' must be a class or namespace name	c:\Users\Gautam\Music\TaskSpace\OpenSim\Common\Property.h	642	46	futureTaskSpace
	339	IntelliSense: name followed by '::' must be a class or namespace name	c:\Users\Gautam\Music\TaskSpace\OpenSim\Common\Property.h	643	46	futureTaskSpace
	340	IntelliSense: name followed by '::' must be a class or namespace name	c:\Users\Gautam\Music\TaskSpace\OpenSim\Common\Property.h	647	28	futureTaskSpace
	341	IntelliSense: name followed by '::' must be a class or namespace name	c:\Users\Gautam\Music\TaskSpace\OpenSim\Common\Property.h	657	28	futureTaskSpace
	342	IntelliSense: name followed by '::' must be a class or namespace name	c:\Users\Gautam\Music\TaskSpace\OpenSim\Common\Property.h	854	40	futureTaskSpace
	344	IntelliSense: name followed by '::' must be a class or namespace name	c:\Users\Gautam\Music\TaskSpace\OpenSim\Common\Property.h	874	40	futureTaskSpace
	347	IntelliSense: name followed by '::' must be a class or namespace name	c:\Users\Gautam\Music\TaskSpace\OpenSim\Common\Property.h	1034	23	futureTaskSpace
	348	IntelliSense: name followed by '::' must be a class or namespace name	c:\Users\Gautam\Music\TaskSpace\OpenSim\Common\Property.h	1034	46	futureTaskSpace
	349	IntelliSense: name followed by '::' must be a class or namespace name	c:\Users\Gautam\Music\TaskSpace\OpenSim\Common\Property.h	1038	23	futureTaskSpace
	350	IntelliSense: name followed by '::' must be a class or namespace name	c:\Users\Gautam\Music\TaskSpace\OpenSim\Common\Property.h	1038	48	futureTaskSpace
	351	IntelliSense: name followed by '::' must be a class or namespace name	c:\Users\Gautam\Music\TaskSpace\OpenSim\Common\Property.h	1042	23	futureTaskSpace
	352	IntelliSense: name followed by '::' must be a class or namespace name	c:\Users\Gautam\Music\TaskSpace\OpenSim\Common\Property.h	1042	51	futureTaskSpace
	355	IntelliSense: name followed by '::' must be a class or namespace name	c:\Users\Gautam\Music\TaskSpace\OpenSim\Common\PropertyTable.h	172	34	futureTaskSpace
	357	IntelliSense: name followed by '::' must be a class or namespace name	c:\Users\Gautam\Music\TaskSpace\OpenSim\Common\PropertyTable.h	177	5	futureTaskSpace
	359	IntelliSense: name followed by '::' must be a class or namespace name	c:\Users\Gautam\Music\TaskSpace\OpenSim\Common\Object.h	512	9	futureTaskSpace
	360	IntelliSense: name followed by '::' must be a class or namespace name	c:\Users\Gautam\Music\TaskSpace\OpenSim\Common\Object.h	520	33	futureTaskSpace
	361	IntelliSense: name followed by '::' must be a class or namespace name	c:\Users\Gautam\Music\TaskSpace\OpenSim\Common\Object.h	532	29	futureTaskSpace
	363	IntelliSense: name followed by '::' must be a class or namespace name	c:\Users\Gautam\Music\TaskSpace\OpenSim\Common\Object.h	683	18	futureTaskSpace
	366	IntelliSense: name followed by '::' must be a class or namespace name	c:\Users\Gautam\Music\TaskSpace\OpenSim\Common\Object.h	787	35	futureTaskSpace
	367	IntelliSense: name followed by '::' must be a class or namespace name	c:\Users\Gautam\Music\TaskSpace\OpenSim\Common\Object.h	1087	40	futureTaskSpace
	371	IntelliSense: name followed by '::' must be a class or namespace name	c:\Users\Gautam\Music\TaskSpace\OpenSim\Simulation\Model\ModelComponent.h	187	29	futureTaskSpace
	373	IntelliSense: name followed by '::' must be a class or namespace name	c:\Users\Gautam\Music\TaskSpace\OpenSim\Simulation\Model\ModelComponent.h	214	40	futureTaskSpace
	374	IntelliSense: name followed by '::' must be a class or namespace name	c:\Users\Gautam\Music\TaskSpace\OpenSim\Simulation\Model\ModelComponent.h	233	13	futureTaskSpace
	375	IntelliSense: name followed by '::' must be a class or namespace name	c:\Users\Gautam\Music\TaskSpace\OpenSim\Simulation\Model\ModelComponent.h	249	33	futureTaskSpace
	376	IntelliSense: name followed by '::' must be a class or namespace name	c:\Users\Gautam\Music\TaskSpace\OpenSim\Simulation\Model\ModelComponent.h	261	28	futureTaskSpace
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Dimitar Stanev
Posts: 1096
Joined: Fri Jan 31, 2014 5:14 am

Re: Task space controller

Post by Dimitar Stanev » Fri May 13, 2016 12:11 am

Hi,
visual studio 11 (2012) 32
Read the per-requirements and how to properly install OpenSim. Everything is written in the main readme.

https://github.com/opensim-org/opensim-core

You need visual studio 14 (2015). You don't copy anything in a folder, instead you use cmake to automatically generate your project and find the dependencies for you (include dir, linking libraries, etc). In your case, you may need to write your own CMakeLists.txt for the project, and there is a sample.

https://github.com/opensim-org/opensim- ... eLists.txt

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Gautam Ramachandra
Posts: 65
Joined: Thu Sep 03, 2015 11:04 pm

Re: Task space controller

Post by Gautam Ramachandra » Sun May 22, 2016 12:15 am

I did install the opensim from source and followed all the procedures but then the examples are all coming in the visual studio except the task space controller. Please help me with this. I mean its not getting in the solution of the opensim after I build and generate in cmake i.e the opensim.sln file when imported into the visual studio I dont find taskspace and also after the installation I dont find it in the opensim installation folder as well. So what should I do to access the task space controller ?
Last edited by Gautam Ramachandra on Sun May 22, 2016 2:03 pm, edited 1 time in total.
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Dimitar Stanev
Posts: 1096
Joined: Fri Jan 31, 2014 5:14 am

Re: Task space controller

Post by Dimitar Stanev » Sun May 22, 2016 1:13 am

Open opensim-core/OpenSim/Sandbox/CMakeLists.txt and change:

Code: Select all

add_subdirectory(TaskSpace EXCLUDE_FROM_ALL)
to

Code: Select all

add_subdirectory(TaskSpace)
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Gautam Ramachandra
Posts: 65
Joined: Thu Sep 03, 2015 11:04 pm

Re: Task space controller

Post by Gautam Ramachandra » Sun May 22, 2016 9:10 pm

I got that but I am seeing some errors as below and I am unable to compile it successfully , please help me with this

Code: Select all

Severity	Code	Description	Project	File	Line	Suppression State
Error	C2664	'OpenSim::TaskSpace::NullspaceProjectionTranspose::NullspaceProjectionTranspose(OpenSim::TaskSpace::NullspaceProjectionTranspose &&)': cannot convert argument 1 from 'OpenSim::Component::MemberSubcomponentIndex' to 'const OpenSim::TaskSpace::NullspaceProjectionTranspose &' (compiling source file E:\opensim-core\OpenSim\Sandbox\TaskSpace\futureTaskSpace.cpp)	futureTaskSpace	e:\opensim-core\opensim\sandbox\taskspace\TaskSpace.h	631	
Error	C2664	'OpenSim::TaskSpace::DynamicallyConsistentJacobianInverse::DynamicallyConsistentJacobianInverse(OpenSim::TaskSpace::DynamicallyConsistentJacobianInverse &&)': cannot convert argument 1 from 'OpenSim::Component::MemberSubcomponentIndex' to 'const OpenSim::TaskSpace::DynamicallyConsistentJacobianInverse &' (compiling source file E:\opensim-core\OpenSim\Sandbox\TaskSpace\futureTaskSpace.cpp)	futureTaskSpace	e:\opensim-core\opensim\sandbox\taskspace\TaskSpace.h	626	
Error	C2664	'OpenSim::TaskSpace::DynamicallyConsistentJacobianInverse::DynamicallyConsistentJacobianInverse(OpenSim::TaskSpace::DynamicallyConsistentJacobianInverse &&)': cannot convert argument 1 from 'OpenSim::Component::MemberSubcomponentIndex' to 'const OpenSim::TaskSpace::DynamicallyConsistentJacobianInverse &' (compiling source file E:\opensim-core\OpenSim\Sandbox\TaskSpace\TaskBasedController.cpp)	futureTaskSpace	e:\opensim-core\opensim\sandbox\taskspace\TaskSpace.h	626	
Error	C2664	'OpenSim::TaskSpace::DynamicallyConsistentJacobianInverse::DynamicallyConsistentJacobianInverse(OpenSim::TaskSpace::DynamicallyConsistentJacobianInverse &&)': cannot convert argument 1 from 'OpenSim::Component::MemberSubcomponentIndex' to 'const OpenSim::TaskSpace::DynamicallyConsistentJacobianInverse &' (compiling source file E:\opensim-core\OpenSim\Sandbox\TaskSpace\TaskSpace.cpp)	futureTaskSpace	e:\opensim-core\opensim\sandbox\taskspace\TaskSpace.h	626	
Error	C2664	'OpenSim::TaskSpace::DynamicallyConsistentJacobianInverseTranspose::DynamicallyConsistentJacobianInverseTranspose(OpenSim::TaskSpace::DynamicallyConsistentJacobianInverseTranspose &&)': cannot convert argument 1 from 'OpenSim::Component::MemberSubcomponentIndex' to 'const OpenSim::TaskSpace::DynamicallyConsistentJacobianInverseTranspose &' (compiling source file E:\opensim-core\OpenSim\Sandbox\TaskSpace\futureTaskSpace.cpp)	futureTaskSpace	e:\opensim-core\opensim\sandbox\taskspace\TaskSpace.h	627	
Error	C2664	'OpenSim::TaskSpace::DynamicallyConsistentJacobianInverseTranspose::DynamicallyConsistentJacobianInverseTranspose(OpenSim::TaskSpace::DynamicallyConsistentJacobianInverseTranspose &&)': cannot convert argument 1 from 'OpenSim::Component::MemberSubcomponentIndex' to 'const OpenSim::TaskSpace::DynamicallyConsistentJacobianInverseTranspose &' (compiling source file E:\opensim-core\OpenSim\Sandbox\TaskSpace\TaskBasedController.cpp)	futureTaskSpace	e:\opensim-core\opensim\sandbox\taskspace\TaskSpace.h	627	
Error	C2664	'OpenSim::TaskSpace::DynamicallyConsistentJacobianInverseTranspose::DynamicallyConsistentJacobianInverseTranspose(OpenSim::TaskSpace::DynamicallyConsistentJacobianInverseTranspose &&)': cannot convert argument 1 from 'OpenSim::Component::MemberSubcomponentIndex' to 'const OpenSim::TaskSpace::DynamicallyConsistentJacobianInverseTranspose &' (compiling source file E:\opensim-core\OpenSim\Sandbox\TaskSpace\TaskSpace.cpp)	futureTaskSpace	e:\opensim-core\opensim\sandbox\taskspace\TaskSpace.h	627	
Error	C2664	'OpenSim::TaskSpace::Gravity::Gravity(OpenSim::TaskSpace::Gravity &&)': cannot convert argument 1 from 'OpenSim::Component::MemberSubcomponentIndex' to 'const OpenSim::TaskSpace::Gravity &' (compiling source file E:\opensim-core\OpenSim\Sandbox\TaskSpace\futureTaskSpace.cpp)	futureTaskSpace	e:\opensim-core\opensim\sandbox\taskspace\TaskSpace.h	629	
Error	C2664	'OpenSim::TaskSpace::Gravity::Gravity(OpenSim::TaskSpace::Gravity &&)': cannot convert argument 1 from 'OpenSim::Component::MemberSubcomponentIndex' to 'const OpenSim::TaskSpace::Gravity &' (compiling source file E:\opensim-core\OpenSim\Sandbox\TaskSpace\TaskBasedController.cpp)	futureTaskSpace	e:\opensim-core\opensim\sandbox\taskspace\TaskSpace.h	629	
Error	C2664	'OpenSim::TaskSpace::Gravity::Gravity(OpenSim::TaskSpace::Gravity &&)': cannot convert argument 1 from 'OpenSim::Component::MemberSubcomponentIndex' to 'const OpenSim::TaskSpace::Gravity &' (compiling source file E:\opensim-core\OpenSim\Sandbox\TaskSpace\TaskSpace.cpp)	futureTaskSpace	e:\opensim-core\opensim\sandbox\taskspace\TaskSpace.h	629	
Error	C2664	'OpenSim::TaskSpace::Inertia::Inertia(OpenSim::TaskSpace::Inertia &&)': cannot convert argument 1 from 'OpenSim::Component::MemberSubcomponentIndex' to 'const OpenSim::TaskSpace::Inertia &' (compiling source file E:\opensim-core\OpenSim\Sandbox\TaskSpace\futureTaskSpace.cpp)	futureTaskSpace	e:\opensim-core\opensim\sandbox\taskspace\TaskSpace.h	624	
Error	C2664	'OpenSim::TaskSpace::Inertia::Inertia(OpenSim::TaskSpace::Inertia &&)': cannot convert argument 1 from 'OpenSim::Component::MemberSubcomponentIndex' to 'const OpenSim::TaskSpace::Inertia &' (compiling source file E:\opensim-core\OpenSim\Sandbox\TaskSpace\TaskBasedController.cpp)	futureTaskSpace	e:\opensim-core\opensim\sandbox\taskspace\TaskSpace.h	624	
Error	C2664	'OpenSim::TaskSpace::Inertia::Inertia(OpenSim::TaskSpace::Inertia &&)': cannot convert argument 1 from 'OpenSim::Component::MemberSubcomponentIndex' to 'const OpenSim::TaskSpace::Inertia &' (compiling source file E:\opensim-core\OpenSim\Sandbox\TaskSpace\TaskSpace.cpp)	futureTaskSpace	e:\opensim-core\opensim\sandbox\taskspace\TaskSpace.h	624	
Error	C2664	'OpenSim::TaskSpace::InertiaInverse::InertiaInverse(OpenSim::TaskSpace::InertiaInverse &&)': cannot convert argument 1 from 'OpenSim::Component::MemberSubcomponentIndex' to 'const OpenSim::TaskSpace::InertiaInverse &' (compiling source file E:\opensim-core\OpenSim\Sandbox\TaskSpace\futureTaskSpace.cpp)	futureTaskSpace	e:\opensim-core\opensim\sandbox\taskspace\TaskSpace.h	625	
Error	C2664	'OpenSim::TaskSpace::InertiaInverse::InertiaInverse(OpenSim::TaskSpace::InertiaInverse &&)': cannot convert argument 1 from 'OpenSim::Component::MemberSubcomponentIndex' to 'const OpenSim::TaskSpace::InertiaInverse &' (compiling source file E:\opensim-core\OpenSim\Sandbox\TaskSpace\TaskBasedController.cpp)	futureTaskSpace	e:\opensim-core\opensim\sandbox\taskspace\TaskSpace.h	625	
Error	C2664	'OpenSim::TaskSpace::InertiaInverse::InertiaInverse(OpenSim::TaskSpace::InertiaInverse &&)': cannot convert argument 1 from 'OpenSim::Component::MemberSubcomponentIndex' to 'const OpenSim::TaskSpace::InertiaInverse &' (compiling source file E:\opensim-core\OpenSim\Sandbox\TaskSpace\TaskSpace.cpp)	futureTaskSpace	e:\opensim-core\opensim\sandbox\taskspace\TaskSpace.h	625	
Error	C2664	'OpenSim::TaskSpace::InertialForces::InertialForces(OpenSim::TaskSpace::InertialForces &&)': cannot convert argument 1 from 'OpenSim::Component::MemberSubcomponentIndex' to 'const OpenSim::TaskSpace::InertialForces &' (compiling source file E:\opensim-core\OpenSim\Sandbox\TaskSpace\futureTaskSpace.cpp)	futureTaskSpace	e:\opensim-core\opensim\sandbox\taskspace\TaskSpace.h	628	
Error	C2664	'OpenSim::TaskSpace::InertialForces::InertialForces(OpenSim::TaskSpace::InertialForces &&)': cannot convert argument 1 from 'OpenSim::Component::MemberSubcomponentIndex' to 'const OpenSim::TaskSpace::InertialForces &' (compiling source file E:\opensim-core\OpenSim\Sandbox\TaskSpace\TaskBasedController.cpp)	futureTaskSpace	e:\opensim-core\opensim\sandbox\taskspace\TaskSpace.h	628	
Error	C2664	'OpenSim::TaskSpace::InertialForces::InertialForces(OpenSim::TaskSpace::InertialForces &&)': cannot convert argument 1 from 'OpenSim::Component::MemberSubcomponentIndex' to 'const OpenSim::TaskSpace::InertialForces &' (compiling source file E:\opensim-core\OpenSim\Sandbox\TaskSpace\TaskSpace.cpp)	futureTaskSpace	e:\opensim-core\opensim\sandbox\taskspace\TaskSpace.h	628	
Error	C2664	'OpenSim::TaskSpace::Jacobian::Jacobian(OpenSim::TaskSpace::Jacobian &&)': cannot convert argument 1 from 'OpenSim::Component::MemberSubcomponentIndex' to 'const OpenSim::TaskSpace::Jacobian &' (compiling source file E:\opensim-core\OpenSim\Sandbox\TaskSpace\futureTaskSpace.cpp)	futureTaskSpace	e:\opensim-core\opensim\sandbox\taskspace\TaskSpace.h	622	
Error	C2664	'OpenSim::TaskSpace::Jacobian::Jacobian(OpenSim::TaskSpace::Jacobian &&)': cannot convert argument 1 from 'OpenSim::Component::MemberSubcomponentIndex' to 'const OpenSim::TaskSpace::Jacobian &' (compiling source file E:\opensim-core\OpenSim\Sandbox\TaskSpace\TaskBasedController.cpp)	futureTaskSpace	e:\opensim-core\opensim\sandbox\taskspace\TaskSpace.h	622	
Error	C2664	'OpenSim::TaskSpace::Jacobian::Jacobian(OpenSim::TaskSpace::Jacobian &&)': cannot convert argument 1 from 'OpenSim::Component::MemberSubcomponentIndex' to 'const OpenSim::TaskSpace::Jacobian &' (compiling source file E:\opensim-core\OpenSim\Sandbox\TaskSpace\TaskSpace.cpp)	futureTaskSpace	e:\opensim-core\opensim\sandbox\taskspace\TaskSpace.h	622	
Error	C2664	'OpenSim::TaskSpace::JacobianTranspose::JacobianTranspose(OpenSim::TaskSpace::JacobianTranspose &&)': cannot convert argument 1 from 'OpenSim::Component::MemberSubcomponentIndex' to 'const OpenSim::TaskSpace::JacobianTranspose &' (compiling source file E:\opensim-core\OpenSim\Sandbox\TaskSpace\futureTaskSpace.cpp)	futureTaskSpace	e:\opensim-core\opensim\sandbox\taskspace\TaskSpace.h	623	
Error	C2664	'OpenSim::TaskSpace::JacobianTranspose::JacobianTranspose(OpenSim::TaskSpace::JacobianTranspose &&)': cannot convert argument 1 from 'OpenSim::Component::MemberSubcomponentIndex' to 'const OpenSim::TaskSpace::JacobianTranspose &' (compiling source file E:\opensim-core\OpenSim\Sandbox\TaskSpace\TaskBasedController.cpp)	futureTaskSpace	e:\opensim-core\opensim\sandbox\taskspace\TaskSpace.h	623	
Error	C2664	'OpenSim::TaskSpace::JacobianTranspose::JacobianTranspose(OpenSim::TaskSpace::JacobianTranspose &&)': cannot convert argument 1 from 'OpenSim::Component::MemberSubcomponentIndex' to 'const OpenSim::TaskSpace::JacobianTranspose &' (compiling source file E:\opensim-core\OpenSim\Sandbox\TaskSpace\TaskSpace.cpp)	futureTaskSpace	e:\opensim-core\opensim\sandbox\taskspace\TaskSpace.h	623	
Error	C2664	'OpenSim::TaskSpace::NullspaceProjection::NullspaceProjection(OpenSim::TaskSpace::NullspaceProjection &&)': cannot convert argument 1 from 'OpenSim::Component::MemberSubcomponentIndex' to 'const OpenSim::TaskSpace::NullspaceProjection &' (compiling source file E:\opensim-core\OpenSim\Sandbox\TaskSpace\futureTaskSpace.cpp)	futureTaskSpace	e:\opensim-core\opensim\sandbox\taskspace\TaskSpace.h	630	
Error	C2664	'OpenSim::TaskSpace::NullspaceProjection::NullspaceProjection(OpenSim::TaskSpace::NullspaceProjection &&)': cannot convert argument 1 from 'OpenSim::Component::MemberSubcomponentIndex' to 'const OpenSim::TaskSpace::NullspaceProjection &' (compiling source file E:\opensim-core\OpenSim\Sandbox\TaskSpace\TaskBasedController.cpp)	futureTaskSpace	e:\opensim-core\opensim\sandbox\taskspace\TaskSpace.h	630	
Error	C2664	'OpenSim::TaskSpace::NullspaceProjection::NullspaceProjection(OpenSim::TaskSpace::NullspaceProjection &&)': cannot convert argument 1 from 'OpenSim::Component::MemberSubcomponentIndex' to 'const OpenSim::TaskSpace::NullspaceProjection &' (compiling source file E:\opensim-core\OpenSim\Sandbox\TaskSpace\TaskSpace.cpp)	futureTaskSpace	e:\opensim-core\opensim\sandbox\taskspace\TaskSpace.h	630	
Error	C2664	'OpenSim::TaskSpace::NullspaceProjectionTranspose::NullspaceProjectionTranspose(OpenSim::TaskSpace::NullspaceProjectionTranspose &&)': cannot convert argument 1 from 'OpenSim::Component::MemberSubcomponentIndex' to 'const OpenSim::TaskSpace::NullspaceProjectionTranspose &' (compiling source file E:\opensim-core\OpenSim\Sandbox\TaskSpace\TaskBasedController.cpp)	futureTaskSpace	e:\opensim-core\opensim\sandbox\taskspace\TaskSpace.h	631	
Error	C2664	'OpenSim::TaskSpace::NullspaceProjectionTranspose::NullspaceProjectionTranspose(OpenSim::TaskSpace::NullspaceProjectionTranspose &&)': cannot convert argument 1 from 'OpenSim::Component::MemberSubcomponentIndex' to 'const OpenSim::TaskSpace::NullspaceProjectionTranspose &' (compiling source file E:\opensim-core\OpenSim\Sandbox\TaskSpace\TaskSpace.cpp)	futureTaskSpace	e:\opensim-core\opensim\sandbox\taskspace\TaskSpace.h	631	
Error (active)		no instance of constructor "OpenSim::TaskSpace::DynamicallyConsistentJacobianInverse::DynamicallyConsistentJacobianInverse" matches the argument list	futureTaskSpace	e:\opensim-core\OpenSim\Sandbox\TaskSpace\TaskSpace.h	626	
Error (active)		no instance of constructor "OpenSim::TaskSpace::DynamicallyConsistentJacobianInverseTranspose::DynamicallyConsistentJacobianInverseTranspose" matches the argument list	futureTaskSpace	e:\opensim-core\OpenSim\Sandbox\TaskSpace\TaskSpace.h	627	
Error (active)		no instance of constructor "OpenSim::TaskSpace::Gravity::Gravity" matches the argument list	futureTaskSpace	e:\opensim-core\OpenSim\Sandbox\TaskSpace\TaskSpace.h	629	
Error (active)		no instance of constructor "OpenSim::TaskSpace::Inertia::Inertia" matches the argument list	futureTaskSpace	e:\opensim-core\OpenSim\Sandbox\TaskSpace\TaskSpace.h	624	
Error (active)		no instance of constructor "OpenSim::TaskSpace::InertiaInverse::InertiaInverse" matches the argument list	futureTaskSpace	e:\opensim-core\OpenSim\Sandbox\TaskSpace\TaskSpace.h	625	
Error (active)		no instance of constructor "OpenSim::TaskSpace::InertialForces::InertialForces" matches the argument list	futureTaskSpace	e:\opensim-core\OpenSim\Sandbox\TaskSpace\TaskSpace.h	628	
Error (active)		no instance of constructor "OpenSim::TaskSpace::Jacobian::Jacobian" matches the argument list	futureTaskSpace	e:\opensim-core\OpenSim\Sandbox\TaskSpace\TaskSpace.h	622	
Error (active)		no instance of constructor "OpenSim::TaskSpace::JacobianTranspose::JacobianTranspose" matches the argument list	futureTaskSpace	e:\opensim-core\OpenSim\Sandbox\TaskSpace\TaskSpace.h	623	
Error (active)		no instance of constructor "OpenSim::TaskSpace::NullspaceProjection::NullspaceProjection" matches the argument list	futureTaskSpace	e:\opensim-core\OpenSim\Sandbox\TaskSpace\TaskSpace.h	630	
Error (active)		no instance of constructor "OpenSim::TaskSpace::NullspaceProjectionTranspose::NullspaceProjectionTranspose" matches the argument list	futureTaskSpace	e:\opensim-core\OpenSim\Sandbox\TaskSpace\TaskSpace.h	631
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Dimitar Stanev
Posts: 1096
Joined: Fri Jan 31, 2014 5:14 am

Re: Task space controller

Post by Dimitar Stanev » Thu May 26, 2016 4:12 am

Hi,

It seems, that the developers have changed this file, so now it is not working. Substitute TaskSpace.h with the following file in your project:

Code: Select all

/* -------------------------------------------------------------------------- *
*                               Simbody(tm)                                  *
* -------------------------------------------------------------------------- *
* This is part of the SimTK biosimulation toolkit originating from           *
* Simbios, the NIH National Center for Physics-Based Simulation of           *
* Biological Structures at Stanford, funded under the NIH Roadmap for        *
* Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody.  *
*                                                                            *
* Portions copyright (c) 2015 Stanford University and the Authors.           *
* Authors: Chris Dembia                                                      *
* Contributors: Michael Sherman, Dimitar Stanev                              *
*                                                                            *
* Licensed under the Apache License, Version 2.0 (the "License"); you may    *
* not use this file except in compliance with the License. You may obtain a  *
* copy of the License at http://www.apache.org/licenses/LICENSE-2.0.         *
*                                                                            *
* Unless required by applicable law or agreed to in writing, software        *
* distributed under the License is distributed on an "AS IS" BASIS,          *
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.   *
* See the License for the specific language governing permissions and        *
* limitations under the License.                                             *
* -------------------------------------------------------------------------- */

#ifndef TASK_SPACE_H
#define TASK_SPACE_H

#include <SimTKmath.h>
#include <simbody/internal/common.h>
#include <simbody/internal/SimbodyMatterSubsystem.h>
#include <simbody/internal/Force_Gravity.h>

#include <OpenSim/Simulation/Model/ModelComponent.h>
#include <OpenSim/Simulation/Model/Model.h>

using namespace SimTK;

namespace OpenSim
{

    /**
    * Macro for getters
    */
#define TASKSPACEQUANTITY_MEMBERS(CLASS, MEMVAR, SHORT) \
private: \
    CLASS m_ ## MEMVAR; \
public: \
    const CLASS & get ## CLASS () const { \
        return m_ ## MEMVAR; \
    } \
    const CLASS & SHORT () const { \
        return m_ ## MEMVAR; \
    }

/** (Experimental – API will change – use at your own risk) Efficient and
* convenient computation of quantities necessary for task-space
* model-based controllers.
*
* This class provides convenient access to the quantities used in task-space
* or operational-space controllers, such as the jacobian and the task-space
* mass matrix. Each such quantity is encapsulated in its own class, and objects
* of these types can be used as if they were the quantities (e.g. matrix)
* themselves. This encapsulation allows us to perform
* the necessary calculations more efficiently under the covers.
*
* Computing quantities such as the jacobian \a explicitly is often very
* inefficient, and is usually unnecessary. The jacobian usually appears in a
* matrix-vector product, which is more efficient to compute. This class and
* the classes within use operator overloading to allow a user to write code
* as if they had the matrices explicitly; internally, we compute matrix-vector
* products instead. Also, this class caches the quantities once they've
* been computed.
*
* <h3>List of task-space quantities</h3>
*
* In this class, we use Khatib's notation for operational-space controllers [1].
* This notation conflicts with the notation used elsewhere in Simbody.
*  - nu: number of degrees of freedom.
*  - nt: number of tasks (e.g., number of stations).
*  - nst: number of scalar tasks; 3 * nt.
*  - \f$ A \f$ (nu x nu): joint-space mass matrix (M elsewhere in Simbody).
*  - \f$ b \f$ (nu x 1): joint-space inertial forces (Coriolis, etc.).
*  - \f$ g \f$ (nu x 1): joint-space gravity forces.
*  - \f$ \Lambda \f$ (nst x nst): task-space mass matrix.
*  - \f$ p \f$ (nst x 1): task-space gravity forces.
*  - \f$ \mu \f$ (nst x 1): task-space inertial forces.
*  - \f$ J \f$ (nst x nu): task jacobian.
*  - \f$ \bar{J} \f$ (nu x nst): dynamically consistent generalized inverse of the jacobian.
*  - \f$ N \f$ (nu x nu): nullspace projection matrix.
*
*  See the individual TaskSpaceQuantity's for more information.
*
* <h3>Usage</h3>
*
* We expect you to use this class within a Force::Custom::Implementation, but
* this is not the only option. However, this class can only be used within a
* class that has a realizeTopology method. Here are the necessary steps for
* making use of this class:
*
*  -# Specify your tasks with the TaskSpace::addTask method. If your tasks
*     don't change throughout your simulation, you can do this in a constructor.
*  -# Call TaskSpace::realizeTopology within the owning class' realizeTopology.
*     This is used to allocate cache entries.
*  -# Access the quantities (perhaps in a calcForce method).
*
* Look at the TaskSpaceControl-{UR10,Atlas} examples to see how to use this
* class.
*
* [1] Khatib, Oussama, et al. "Robotics-based synthesis of human motion."
* Journal of physiology-Paris 103.3 (2009): 211-219.
*/
class TaskSpace : public ModelComponent
{
    OpenSim_DECLARE_CONCRETE_OBJECT(TaskSpace, ModelComponent);
public:

    /** Constructor creates a new container for tasks at the same priority,
    initially containing no tasks.
    */
    TaskSpace()
    {

    }

    ~TaskSpace()
    {

    }

    /** The SimbodyMatterSubsystem that this TaskSpace object uses
    * to compute its quantities.
    */
    const SimbodyMatterSubsystem& getMatterSubsystem() const
    {
        return _model->getMatterSubsystem();
    }

    /** The GravityForce that this TaskSpace object uses
    * to compute its quantities.
    */
    const SimTK::Force::Gravity& getGravityForce() const
    {
        return _model->getGravityForce();
    }

    /** Use this to identify Station tasks that have been added to this
    * TaskSpace.
    */
    SimTK_DEFINE_UNIQUE_LOCAL_INDEX_TYPE(TaskSpace, StationTaskIndex);

    /// @name Station tasks.
    /// @{
    /** Add a task for a station (point fixed on a rigid body).
    * @param[in] body The index of the body on which the point is fixed.
    * @param[in] station The point of the body, expressed in the body frame.
    */
    void addStationTask(MobilizedBodyIndex body, Vec3 station)
    {
        m_indices.push_back(body);
        m_stations.push_back(station);
    }

    /** The number of calls to add*Task that have been made (nt).
    */
    unsigned int getNumTasks() const
    {
        return m_indices.size();
    }

    /** The dimensionality of the task space (nst).
    */
    unsigned int getNumScalarTasks() const
    {
        return 3 * m_indices.size();
    }

    /// @}

    /// @name Convenience calculations.
    /// @{

    /** Obtain the location and velocity, in the ground frame and expressed
    * in the ground frame, of the station for a given station task.
    */
    void findStationLocationAndVelocityInGround(const State& s,
            StationTaskIndex index,
            const Vec3& stationLocationInBody,
            Vec3& locationInGround, Vec3& velocityInGround) const
    {
        getMatterSubsystem().getMobilizedBody(m_indices[index])
                .findStationLocationAndVelocityInGround(s,
                        stationLocationInBody,
                        locationInGround, velocityInGround);
    }

    /** Given accelerations, computes inverse dynamics in the task-space
    * \f$ F = \Lambda F^{*} \mu + p \f$ (nst x 1).
    *
    * This is used to perform feedforward control: given a control law that
    * is specified as task-space accelerations, this provides the task-space
    * forces that achieve those accelerations.
    */
    Vector calcInverseDynamics(const State& s,
        const Vector& taskAccelerations) const;

    Vector calcGravityCompensation(const State& s) const;

    /** The joint-space gravity forces (nu x 1).
    */
    Vector g(const State& s) const
    {
        return getGravity().systemGravity(s);
    }

    /// @}

protected:

    void extendConnectToModel(Model& model) override
    {
        Super::extendConnectToModel(model);

        addComponent(&m_jacobian);
        m_jacobian.setTaskSpace(this);
        addComponent(&m_jacobianTranspose);
        m_jacobianTranspose.setTaskSpace(this);
        addComponent(&m_inertia);
        m_inertia.setTaskSpace(this);
        addComponent(&m_inertiaInverse);
        m_inertiaInverse.setTaskSpace(this);
        addComponent(&m_jacobianInverse);
        m_jacobianInverse.setTaskSpace(this);
        addComponent(&m_jacobianInverseTranspose);
        m_jacobianInverseTranspose.setTaskSpace(this);
        addComponent(&m_inertialForces);
        m_inertialForces.setTaskSpace(this);
        addComponent(&m_gravity);
        m_gravity.setTaskSpace(this);
        addComponent(&m_nullspace);
        m_nullspace.setTaskSpace(this);
        addComponent(&m_nullspaceTranspose);
        m_nullspaceTranspose.setTaskSpace(this);
    }


private:

    const Array_<MobilizedBodyIndex>& getMobilizedBodyIndices() const
    {
        return m_indices;
    }

    const Array_<Vec3>& getStations() const
    {
        return m_stations;
    }

    //==========================================================================
    // Member variables.
    //==========================================================================

    // For station tasks
    Array_<MobilizedBodyIndex> m_indices;
    Array_<Vec3> m_stations;

public:

    //==========================================================================
    // nested classes
    //==========================================================================

    /** An abstract class for common task-space Matrix or Vector quantities.
    *
    * All task-space quantities must be capable of providing their explicit
    * value. After this value is computed, it is cached in the State for
    * efficiency. These classes may optionally provide operators that allow
    * for more efficient computations.
    *
    * The template parameter T is the type of the task-space quantity
    * (e.g., Matrix). The parameter S is used when allocating the cache entry;
    * it is the earliest stage at which the cache entry can be provided.
    */
    template <typename T, Stage::Level S = Stage::Position>
    class TaskSpaceQuantity : public Component
    {

    public:

        TaskSpaceQuantity(std::string cacheName)
            : m_cacheName(cacheName)
        {

        }

        /** Obtain this quantity explicitly. If possible, use operators
        * instead of this method.
        */
        const T& getValue(const State& s) const
        {
            if (!isCacheVariableValid(s, m_cacheName))
            {
                T& value = updCacheVariableValue<T>(s, m_cacheName);
                updateCache(s, value);
                markCacheVariableValid(s, m_cacheName);

                return value;
            }
            return getCacheVariableValue<T>(s, m_cacheName);
        }

        void setTaskSpace(TaskSpace* ref)
        {
            m_tspace = ref;
        }

    protected:

        ReferencePtr<TaskSpace> m_tspace;

        void extendAddToSystem(SimTK::MultibodySystem& system) const override
        {
            T value;
            addCacheVariable(m_cacheName, value, getEarliestStage());
        }

    private:

        std::string m_cacheName;

        virtual void updateCache(const State& s, T& cache) const = 0;

        // The earliest stage at which this quantity can be calculated. This
        // is used for creating lazy cache entries.
        static Stage getEarliestStage()
        {
            return S;
        }
    };

    // Forward declarations.
    class JacobianTranspose;
    class Inertia;
    class DynamicallyConsistentJacobianInverseTranspose;
    class InertiaInverse;
    class NullspaceProjectionTranspose;

    /** Relates task-space velocities to generalized speeds; (nst x nu).
    */
    class Jacobian : public TaskSpaceQuantity<Matrix>
    {
        OpenSim_DECLARE_CONCRETE_OBJECT(Jacobian, TaskSpaceQuantity<Matrix>);
    public:

        Jacobian()
            : TaskSpaceQuantity<Matrix>("jacobian")
        {

        }

        const JacobianTranspose& transpose() const;

        /// Using this operator is likely more efficient than obtaining this
        /// matrix explicitly and performing the multiplication on your own.
        Vector multiplyByJ(const State& s, const Vector& u) const;

        // TODO Matrix_<Vec3> operator*(const Matrix& u) const;
        // TODO Matrix operator*(const Matrix& u) const;
        // TODO Matrix operator*(const NullspaceProjection& N) const;
    private:

        void updateCache(const State& s, Matrix& cache) const override;
    };

    /** Used to compute task-space forces; (nu x nst).
    */
    class JacobianTranspose : public TaskSpaceQuantity<Matrix>
    {
        OpenSim_DECLARE_CONCRETE_OBJECT(JacobianTranspose,
            TaskSpaceQuantity<Matrix>);
    public:

        JacobianTranspose()
            : TaskSpaceQuantity<Matrix>("jacobianTranspose")
        {

        }

        const Jacobian& transpose() const;

        const Jacobian& operator~()
        {
            return transpose();
        }

        Vector multiplyByJT(const State& s, const Vector_<Vec3>& f_GP) const;

        Vector multiplyByJT(const State& s, const Vector& f_GP) const;

        Vector multiplyByJT(const State& s, const Vec3& f_GP) const;

        // TODO Matrix operator*(const Matrix_<Vec3>& f_GP) const;

        Matrix multiplyByJT(const State& s, const Matrix& f_GP) const;

        Matrix multiplyByJT(const State& s, const TaskSpace::Inertia& Lambda) const;

        Matrix multiplyByJT(const State& s,
            const TaskSpace::DynamicallyConsistentJacobianInverseTranspose&
            JBarT) const;

    private:

        void updateCache(const State& s, Matrix& cache) const override;
    };

    /** Task-space inertia matrix; \f$ \Lambda = (J A^{-1} J^T)^{-1} \f$
    * (nst x nst).
    */
    class Inertia : public TaskSpaceQuantity<Matrix>
    {
        OpenSim_DECLARE_CONCRETE_OBJECT(Inertia, TaskSpaceQuantity<Matrix>);
    public:

        Inertia()
            : TaskSpaceQuantity<Matrix>("inertia")
        {

        }

        const InertiaInverse& inverse() const;

        Vector multiplyByLambda(const State& s, const Vector& a) const;

        Vector multiplyByLambda(const State& s, const Vec3& a) const;

    private:

        void updateCache(const State& s, Matrix& cache) const override;
    };

    /** Inverse of task-space inertia matrix;
    * \f$ \Lambda^{-1} = J M^{-1} J^T \f$ (nst x nst).
    *
    * This is only needed for computing the Inertia matrix.
    */
    class InertiaInverse : public TaskSpaceQuantity<Matrix>
    {
        OpenSim_DECLARE_CONCRETE_OBJECT(InertiaInverse, TaskSpaceQuantity<Matrix>);
    public:

        InertiaInverse()
            : TaskSpaceQuantity<Matrix>("inertiaInverse")
        {

        }

        const Inertia& inverse() const;

    private:

        void updateCache(const State& s, Matrix& cache) const override;
    };

    /** Mass-matrix weighted generalized inverse;
    * \f$ \bar{J} = A^{-1} J^T \Lambda \f$ (nu x nst).
    */
    class DynamicallyConsistentJacobianInverse : public TaskSpaceQuantity<Matrix>
    {
        OpenSim_DECLARE_CONCRETE_OBJECT(DynamicallyConsistentJacobianInverse,
            TaskSpaceQuantity<Matrix>);
    public:

        DynamicallyConsistentJacobianInverse()
            : TaskSpaceQuantity<Matrix>("jacobianInverse")
        {

        }

        const DynamicallyConsistentJacobianInverseTranspose& transpose() const;

        const DynamicallyConsistentJacobianInverseTranspose& operator~() const
        {
            return transpose();
        }

        Vector multiplyByJBar(const State& s, const Vector& vec) const;

        Matrix multiplyByJBar(const State& s, const Matrix& mat) const;

    private:

        void updateCache(const State& s, Matrix& cache) const override;
    };

    /** (nst x nu).
    */
    class DynamicallyConsistentJacobianInverseTranspose :
        public TaskSpaceQuantity<Matrix>
    {
        OpenSim_DECLARE_CONCRETE_OBJECT(DynamicallyConsistentJacobianInverseTranspose,
            TaskSpaceQuantity<Matrix>);
    public:

        DynamicallyConsistentJacobianInverseTranspose()
            : TaskSpaceQuantity<Matrix>("jacobianInverseTranspoase")
        {

        }

        const DynamicallyConsistentJacobianInverse& transpose() const;

        const DynamicallyConsistentJacobianInverse& operator~() const

        {
            return transpose();
        }

        Vector multiplyByJBarT(const State& s, const Vector& g) const;

    private:

        void updateCache(const State& s, Matrix& cache) const override;
    };

    /** Includes Coriolis forces and the like;
    * \f$ \mu = \bar{J}^T b - \Lambda \dot{J} u \f$ (nst x 1).
    */
    class InertialForces : public TaskSpaceQuantity<Vector, Stage::Velocity>
    {
        OpenSim_DECLARE_CONCRETE_OBJECT(InertialForces,
            TaskSpaceQuantity<Vector>);//problem with stage
    public:

        InertialForces()
            : TaskSpaceQuantity<Vector, Stage::Velocity>("inertialForce")
        {

        }

    private:

        void updateCache(const State& s, Vector& cache) const override;
    };

    /** The task-space forces arising from gravity;
    * \f$ p = \bar{J}^T g \f$ (nst x 1).
    */
    class Gravity : public TaskSpaceQuantity<Vector>
    {
        OpenSim_DECLARE_CONCRETE_OBJECT(Gravity, TaskSpaceQuantity<Vector>);
    public:

        Gravity()
            : TaskSpaceQuantity<Vector>("gravityForce")
        {

        }

        /** The joint-space gravity forces (nu x 1).
        */
        Vector systemGravity(const State& s) const;

        /** A shorthand for the joint-space gravity forces (nu x 1).
        */
        Vector g(const State& s) const
        {
            return systemGravity(s);
        }

    private:

        void updateCache(const State& s, Vector& cache) const override;
    };

    /** Used to prioritize tasks; \f$ N = I - \bar{J} J \f$ (nu x nu).
    */
    class NullspaceProjection : public TaskSpaceQuantity<Matrix>
    {
        OpenSim_DECLARE_CONCRETE_OBJECT(NullspaceProjection,
            TaskSpaceQuantity<Matrix>);
    public:

        NullspaceProjection()
            : TaskSpaceQuantity<Matrix>("nullspace")
        {

        }

        const NullspaceProjectionTranspose& transpose() const;

        const NullspaceProjectionTranspose& operator~() const
        {
            return transpose();
        }

        Vector multiplyByN(const State& s, const Vector& vec) const;

    private:

        void updateCache(const State& s, Matrix& cache) const override;
    };

    /** (nu x nu).
    */
    class NullspaceProjectionTranspose : public TaskSpaceQuantity<Matrix>
    {
        OpenSim_DECLARE_CONCRETE_OBJECT(NullspaceProjectionTranspose,
            TaskSpaceQuantity<Matrix>);
    public:

        NullspaceProjectionTranspose()
            : TaskSpaceQuantity<Matrix>("nullspaceTranspose")
        {

        }

        const NullspaceProjection& transpose() const;


        const NullspaceProjection& operator~() const
        {
            return transpose();
        }
        Vector multiplyByNT(const State& s, const Vector& vec) const;

    private:

        void updateCache(const State& s, Matrix& cache) const override;
    };

    /// @name Access to TaskSpaceQuantity's.
    /// @{
    TASKSPACEQUANTITY_MEMBERS(Jacobian, jacobian, J);
    TASKSPACEQUANTITY_MEMBERS(JacobianTranspose, jacobianTranspose, JT);
    TASKSPACEQUANTITY_MEMBERS(Inertia, inertia, Lambda);
    TASKSPACEQUANTITY_MEMBERS(InertiaInverse, inertiaInverse, LambdaInv);
    TASKSPACEQUANTITY_MEMBERS(DynamicallyConsistentJacobianInverse, jacobianInverse, JBar);
    TASKSPACEQUANTITY_MEMBERS(DynamicallyConsistentJacobianInverseTranspose, jacobianInverseTranspose, JBarT);
    TASKSPACEQUANTITY_MEMBERS(InertialForces, inertialForces, mu);
    TASKSPACEQUANTITY_MEMBERS(Gravity, gravity, p);
    TASKSPACEQUANTITY_MEMBERS(NullspaceProjection, nullspace, N);
    TASKSPACEQUANTITY_MEMBERS(NullspaceProjectionTranspose, nullspaceTranspose, NT);
    /// @}
};


} // end namespace

#endif // TASK_SPACE_H
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User avatar
shayan moradkhani
Posts: 41
Joined: Fri May 05, 2017 5:12 pm

Re: Task space controller

Post by shayan moradkhani » Sun Jun 04, 2017 4:22 am

hi
i have a wired problem. following the tutorials on "http://simtk-confluence.stanford.edu:80 ... I+Tutorial", i downloaded the full model, but i could not find the "Controller_OP.hpp" and "Input.hpp" files.
could you please tell where i can find these flies?
regards
Shayan
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User avatar
Thomas Uchida
Posts: 1793
Joined: Wed May 16, 2012 11:40 am

Re: Task space controller

Post by Thomas Uchida » Sun Jun 04, 2017 11:40 am

could you please tell where i can find these flies?
The files are attached to the Confluence page. I've inserted direct links in the "Get the API files" section.
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User avatar
Kenechukwu Mbanisi
Posts: 51
Joined: Fri Feb 10, 2017 2:50 pm

Re: Task space controller

Post by Kenechukwu Mbanisi » Fri Jun 30, 2017 12:09 pm

Hello there,

I understand that the taskspaceControl was designed as a plugin and so I downloaded the file from GitHub and I am trying to compile and build it, but I am getting some errors.

I find that they are very similar to the problems (and errors) I faced when trying to build a plugin recently (Chris Dembia helped solve it by giving me the 2015 version of OpenSim 3.3: (viewtopicPhpbb.php?f=91&t=7898&p=0&start=0&view=)

Here's the error I have:

Code: Select all

Creating library C:/OpenSimWorkspace/opensim-taskspacecontrol-master-build/TaskSpace/Release/osimTaskSpaceControl.lib and object C:/OpenSimWorkspace/opensim-taskspacecontrol-master-build/TaskSpace/Release/osimTaskSpaceControl.exp

1>RegisterTypes_osimTaskSpaceControl.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: __cdecl SimTK::String::String(double,char const *)" (__imp_??0String@SimTK@@QEAA@NPEBD@Z) referenced in function "void __cdecl SimTK::writeUnformatted<double>(class std::basic_ostream<char,struct std::char_traits<char> > &,double const &)" (??$writeUnformatted@N@SimTK@@YAXAEAV?$basic_ostream@DU?$char_traits@D@std@@@std@@AEBN@Z)

1>StationTask.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: __cdecl SimTK::String::String(double,char const *)" (__imp_??0String@SimTK@@QEAA@NPEBD@Z)

1>StationTrackingTask.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: __cdecl SimTK::String::String(double,char const *)" (__imp_??0String@SimTK@@QEAA@NPEBD@Z)

1>ConstantStationTrackingTask.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: __cdecl SimTK::String::String(double,char const *)" (__imp_??0String@SimTK@@QEAA@NPEBD@Z)

1>RegisterTypes_osimTaskSpaceControl.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: bool __cdecl SimTK::String::tryConvertToDouble(double &)const " (__imp_?tryConvertToDouble@String@SimTK@@QEBA_NAEAN@Z) referenced in function "bool __cdecl SimTK::readUnformatted<3,double,1>(class std::basic_istream<char,struct std::char_traits<char> > &,class SimTK::Vec<3,double,1> &)" (??$readUnformatted@$02N$00@SimTK@@YA_NAEAV?$basic_istream@DU?$char_traits@D@std@@@std@@AEAV?$Vec@$02N$00@0@@Z)

1>StationTask.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: bool __cdecl SimTK::String::tryConvertToDouble(double &)const " (__imp_?tryConvertToDouble@String@SimTK@@QEBA_NAEAN@Z)
1>StationTrackingTask.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: bool __cdecl SimTK::String::tryConvertToDouble(double &)const " (__imp_?tryConvertToDouble@String@SimTK@@QEBA_NAEAN@Z)
1>ConstantStationTrackingTask.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: bool __cdecl SimTK::String::tryConvertToDouble(double &)const " (__imp_?tryConvertToDouble@String@SimTK@@QEBA_NAEAN@Z)
1>RegisterTypes_osimTaskSpaceControl.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: class SimTK::Xml::element_iterator & __cdecl SimTK::Xml::element_iterator::operator++(void)" (__imp_??Eelement_iterator@Xml@SimTK@@QEAAAEAV012@XZ) referenced in function "public: virtual void __cdecl OpenSim::ObjectProperty<class OpenSim::TaskSpace::PriorityLevelSet>::readFromXMLElement(class SimTK::Xml::Element &,int)" (?readFromXMLElement@?$ObjectProperty@VPriorityLevelSet@TaskSpace@OpenSim@@@OpenSim@@UEAAXAEAVElement@Xml@SimTK@@H@Z)
1>Controller.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: class SimTK::Xml::element_iterator & __cdecl SimTK::Xml::element_iterator::operator++(void)" (__imp_??Eelement_iterator@Xml@SimTK@@QEAAAEAV012@XZ)
1>PriorityLevel.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: class SimTK::Xml::element_iterator & __cdecl SimTK::Xml::element_iterator::operator++(void)" (__imp_??Eelement_iterator@Xml@SimTK@@QEAAAEAV012@XZ)
1>RegisterTypes_osimTaskSpaceControl.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: __cdecl SimTK::Xml::element_iterator::~element_iterator(void)" (__imp_??1element_iterator@Xml@SimTK@@QEAA@XZ) referenced in function "public: virtual void __cdecl OpenSim::ObjectProperty<class OpenSim::TaskSpace::PriorityLevelSet>::readFromXMLElement(class SimTK::Xml::Element &,int)" (?readFromXMLElement@?$ObjectProperty@VPriorityLevelSet@TaskSpace@OpenSim@@@OpenSim@@UEAAXAEAVElement@Xml@SimTK@@H@Z)
1>Controller.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: __cdecl SimTK::Xml::element_iterator::~element_iterator(void)" (__imp_??1element_iterator@Xml@SimTK@@QEAA@XZ)
1>PriorityLevel.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: __cdecl SimTK::Xml::element_iterator::~element_iterator(void)" (__imp_??1element_iterator@Xml@SimTK@@QEAA@XZ)
1>RegisterTypes_osimTaskSpaceControl.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: class SimTK::String const & __cdecl SimTK::Xml::Element::getElementTag(void)const " (__imp_?getElementTag@Element@Xml@SimTK@@QEBAAEBVString@3@XZ) referenced in function "public: virtual void __cdecl OpenSim::ObjectProperty<class OpenSim::TaskSpace::PriorityLevelSet>::readFromXMLElement(class SimTK::Xml::Element &,int)" (?readFromXMLElement@?$ObjectProperty@VPriorityLevelSet@TaskSpace@OpenSim@@@OpenSim@@UEAAXAEAVElement@Xml@SimTK@@H@Z)
1>Controller.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: class SimTK::String const & __cdecl SimTK::Xml::Element::getElementTag(void)const " (__imp_?getElementTag@Element@Xml@SimTK@@QEBAAEBVString@3@XZ)
1>PriorityLevel.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: class SimTK::String const & __cdecl SimTK::Xml::Element::getElementTag(void)const " (__imp_?getElementTag@Element@Xml@SimTK@@QEBAAEBVString@3@XZ)
1>RegisterTypes_osimTaskSpaceControl.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: class SimTK::String const & __cdecl SimTK::Xml::Element::getValue(void)const " (__imp_?getValue@Element@Xml@SimTK@@QEBAAEBVString@3@XZ) referenced in function "public: virtual void __cdecl OpenSim::SimpleProperty<double>::readFromXMLElement(class SimTK::Xml::Element &,int)" (?readFromXMLElement@?$SimpleProperty@N@OpenSim@@UEAAXAEAVElement@Xml@SimTK@@H@Z)
1>StationTask.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: class SimTK::String const & __cdecl SimTK::Xml::Element::getValue(void)const " (__imp_?getValue@Element@Xml@SimTK@@QEBAAEBVString@3@XZ)
1>StationTrackingTask.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: class SimTK::String const & __cdecl SimTK::Xml::Element::getValue(void)const " (__imp_?getValue@Element@Xml@SimTK@@QEBAAEBVString@3@XZ)
1>ConstantStationTrackingTask.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: class SimTK::String const & __cdecl SimTK::Xml::Element::getValue(void)const " (__imp_?getValue@Element@Xml@SimTK@@QEBAAEBVString@3@XZ)
1>RegisterTypes_osimTaskSpaceControl.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: void __cdecl SimTK::Xml::Element::setValue(class SimTK::String const &)" (__imp_?setValue@Element@Xml@SimTK@@QEAAXAEBVString@3@@Z) referenced in function "public: virtual void __cdecl OpenSim::SimpleProperty<double>::writeToXMLElement(class SimTK::Xml::Element &)const " (?writeToXMLElement@?$SimpleProperty@N@OpenSim@@UEBAXAEAVElement@Xml@SimTK@@@Z)
1>StationTask.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: void __cdecl SimTK::Xml::Element::setValue(class SimTK::String const &)" (__imp_?setValue@Element@Xml@SimTK@@QEAAXAEBVString@3@@Z)
1>StationTrackingTask.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: void __cdecl SimTK::Xml::Element::setValue(class SimTK::String const &)" (__imp_?setValue@Element@Xml@SimTK@@QEAAXAEBVString@3@@Z)
1>ConstantStationTrackingTask.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: void __cdecl SimTK::Xml::Element::setValue(class SimTK::String const &)" (__imp_?setValue@Element@Xml@SimTK@@QEAAXAEBVString@3@@Z)
1>RegisterTypes_osimTaskSpaceControl.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: class SimTK::Xml::element_iterator __cdecl SimTK::Xml::Element::element_begin(class SimTK::String const &)" (__imp_?element_begin@Element@Xml@SimTK@@QEAA?AVelement_iterator@23@AEBVString@3@@Z) referenced in function "public: virtual void __cdecl OpenSim::ObjectProperty<class OpenSim::TaskSpace::PriorityLevelSet>::readFromXMLElement(class SimTK::Xml::Element &,int)" (?readFromXMLElement@?$ObjectProperty@VPriorityLevelSet@TaskSpace@OpenSim@@@OpenSim@@UEAAXAEAVElement@Xml@SimTK@@H@Z)
1>Controller.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: class SimTK::Xml::element_iterator __cdecl SimTK::Xml::Element::element_begin(class SimTK::String const &)" (__imp_?element_begin@Element@Xml@SimTK@@QEAA?AVelement_iterator@23@AEBVString@3@@Z)
1>PriorityLevel.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: class SimTK::Xml::element_iterator __cdecl SimTK::Xml::Element::element_begin(class SimTK::String const &)" (__imp_?element_begin@Element@Xml@SimTK@@QEAA?AVelement_iterator@23@AEBVString@3@@Z)
1>RegisterTypes_osimTaskSpaceControl.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: class SimTK::Xml::element_iterator __cdecl SimTK::Xml::Element::element_end(void)const " (__imp_?element_end@Element@Xml@SimTK@@QEBA?AVelement_iterator@23@XZ) referenced in function "public: virtual void __cdecl OpenSim::ObjectProperty<class OpenSim::TaskSpace::PriorityLevelSet>::readFromXMLElement(class SimTK::Xml::Element &,int)" (?readFromXMLElement@?$ObjectProperty@VPriorityLevelSet@TaskSpace@OpenSim@@@OpenSim@@UEAAXAEAVElement@Xml@SimTK@@H@Z)
1>Controller.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: class SimTK::Xml::element_iterator __cdecl SimTK::Xml::Element::element_end(void)const " (__imp_?element_end@Element@Xml@SimTK@@QEBA?AVelement_iterator@23@XZ)
1>PriorityLevel.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: class SimTK::Xml::element_iterator __cdecl SimTK::Xml::Element::element_end(void)const " (__imp_?element_end@Element@Xml@SimTK@@QEBA?AVelement_iterator@23@XZ)
1>RegisterTypes_osimTaskSpaceControl.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: static class SimTK::Xml::Element & __cdecl SimTK::Xml::Element::getAs(class SimTK::Xml::Node &)" (__imp_?getAs@Element@Xml@SimTK@@SAAEAV123@AEAVNode@23@@Z) referenced in function "public: virtual void __cdecl OpenSim::ObjectProperty<class OpenSim::TaskSpace::PriorityLevelSet>::readFromXMLElement(class SimTK::Xml::Element &,int)" (?readFromXMLElement@?$ObjectProperty@VPriorityLevelSet@TaskSpace@OpenSim@@@OpenSim@@UEAAXAEAVElement@Xml@SimTK@@H@Z)
1>Controller.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: static class SimTK::Xml::Element & __cdecl SimTK::Xml::Element::getAs(class SimTK::Xml::Node &)" (__imp_?getAs@Element@Xml@SimTK@@SAAEAV123@AEAVNode@23@@Z)
1>PriorityLevel.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: static class SimTK::Xml::Element & __cdecl SimTK::Xml::Element::getAs(class SimTK::Xml::Node &)" (__imp_?getAs@Element@Xml@SimTK@@SAAEAV123@AEAVNode@23@@Z)
1>Controller.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: __cdecl SimTK::MatrixStorage::MatrixStorage(void)" (__imp_??0MatrixStorage@SimTK@@QEAA@XZ) referenced in function "public: virtual void __cdecl OpenSim::TaskSpace::Controller::computeControls(class SimTK::State const &,class SimTK::Vector_<double> &)const " (?computeControls@Controller@TaskSpace@OpenSim@@UEBAXAEBVState@SimTK@@AEAV?$Vector_@N@5@@Z)
1>PriorityLevel.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: __cdecl SimTK::MatrixStorage::MatrixStorage(void)" (__imp_??0MatrixStorage@SimTK@@QEAA@XZ)
1>Task.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: __cdecl SimTK::MatrixStorage::MatrixStorage(void)" (__imp_??0MatrixStorage@SimTK@@QEAA@XZ)
1>StationTask.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: __cdecl SimTK::MatrixStorage::MatrixStorage(void)" (__imp_??0MatrixStorage@SimTK@@QEAA@XZ)
1>Controller.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: __cdecl SimTK::MatrixCommitment::MatrixCommitment(void)" (__imp_??0MatrixCommitment@SimTK@@QEAA@XZ) referenced in function "class SimTK::Matrix_<double> __cdecl SimTK::operator*<double,double>(class SimTK::MatrixBase<double> const &,class SimTK::MatrixBase<double> const &)" (??$?DNN@SimTK@@YA?AV?$Matrix_@N@0@AEBV?$MatrixBase@N@0@0@Z)
1>PriorityLevel.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: __cdecl SimTK::MatrixCommitment::MatrixCommitment(void)" (__imp_??0MatrixCommitment@SimTK@@QEAA@XZ)
1>Task.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: __cdecl SimTK::MatrixCommitment::MatrixCommitment(void)" (__imp_??0MatrixCommitment@SimTK@@QEAA@XZ)
1>Controller.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) protected: __cdecl SimTK::MatrixCommitment::MatrixCommitment(class SimTK::MatrixStructure const &,class SimTK::MatrixStorage const &,class SimTK::MatrixOutline const &,class SimTK::MatrixCondition const &)" (__imp_??0MatrixCommitment@SimTK@@IEAA@AEBVMatrixStructure@1@AEBVMatrixStorage@1@AEBVMatrixOutline@1@AEBVMatrixCondition@1@@Z) referenced in function "public: __cdecl SimTK::VectorBase<double>::VectorBase<double>(int)" (??0?$VectorBase@N@SimTK@@QEAA@H@Z)
1>PriorityLevel.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) protected: __cdecl SimTK::MatrixCommitment::MatrixCommitment(class SimTK::MatrixStructure const &,class SimTK::MatrixStorage const &,class SimTK::MatrixOutline const &,class SimTK::MatrixCondition const &)" (__imp_??0MatrixCommitment@SimTK@@IEAA@AEBVMatrixStructure@1@AEBVMatrixStorage@1@AEBVMatrixOutline@1@AEBVMatrixCondition@1@@Z)
1>Task.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) protected: __cdecl SimTK::MatrixCommitment::MatrixCommitment(class SimTK::MatrixStructure const &,class SimTK::MatrixStorage const &,class SimTK::MatrixOutline const &,class SimTK::MatrixCondition const &)" (__imp_??0MatrixCommitment@SimTK@@IEAA@AEBVMatrixStructure@1@AEBVMatrixStorage@1@AEBVMatrixOutline@1@AEBVMatrixCondition@1@@Z)
1>StationTask.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) protected: __cdecl SimTK::MatrixCommitment::MatrixCommitment(class SimTK::MatrixStructure const &,class SimTK::MatrixStorage const &,class SimTK::MatrixOutline const &,class SimTK::MatrixCondition const &)" (__imp_??0MatrixCommitment@SimTK@@IEAA@AEBVMatrixStructure@1@AEBVMatrixStorage@1@AEBVMatrixOutline@1@AEBVMatrixCondition@1@@Z)
1>Controller.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: int __cdecl SimTK::State::getNU(void)const " (__imp_?getNU@State@SimTK@@QEBAHXZ) referenced in function "public: virtual void __cdecl OpenSim::TaskSpace::Controller::computeControls(class SimTK::State const &,class SimTK::Vector_<double> &)const " (?computeControls@Controller@TaskSpace@OpenSim@@UEBAXAEBVState@SimTK@@AEAV?$Vector_@N@5@@Z)
1>PriorityLevel.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: int __cdecl SimTK::State::getNU(void)const " (__imp_?getNU@State@SimTK@@QEBAHXZ)
1>Task.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: int __cdecl SimTK::State::getNU(void)const " (__imp_?getNU@State@SimTK@@QEBAHXZ)
1>Controller.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: class SimTK::Vector_<double> const & __cdecl SimTK::State::getU(void)const " (__imp_?getU@State@SimTK@@QEBAAEBV?$Vector_@N@2@XZ) referenced in function "public: virtual void __cdecl OpenSim::TaskSpace::Controller::computeControls(class SimTK::State const &,class SimTK::Vector_<double> &)const " (?computeControls@Controller@TaskSpace@OpenSim@@UEBAXAEBVState@SimTK@@AEAV?$Vector_@N@5@@Z)
1>Controller.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: __cdecl SimTK::MatrixHelper<double>::~MatrixHelper<double>(void)" (__imp_??1?$MatrixHelper@N@SimTK@@QEAA@XZ) referenced in function "class SimTK::Matrix_<double> __cdecl SimTK::operator*<double>(int,class SimTK::MatrixBase<double> const &)" (??$?DN@SimTK@@YA?AV?$Matrix_@N@0@HAEBV?$MatrixBase@N@0@@Z)
1>PriorityLevel.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: __cdecl SimTK::MatrixHelper<double>::~MatrixHelper<double>(void)" (__imp_??1?$MatrixHelper@N@SimTK@@QEAA@XZ)
1>Task.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: __cdecl SimTK::MatrixHelper<double>::~MatrixHelper<double>(void)" (__imp_??1?$MatrixHelper@N@SimTK@@QEAA@XZ)
1>StationTask.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: __cdecl SimTK::MatrixHelper<double>::~MatrixHelper<double>(void)" (__imp_??1?$MatrixHelper@N@SimTK@@QEAA@XZ)
1>Controller.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: __cdecl SimTK::MatrixHelper<double>::MatrixHelper<double>(int,int,class SimTK::MatrixCommitment const &,int,int)" (__imp_??0?$MatrixHelper@N@SimTK@@QEAA@HHAEBVMatrixCommitment@1@HH@Z) referenced in function "class SimTK::Matrix_<double> __cdecl SimTK::operator*<double,double>(class SimTK::MatrixBase<double> const &,class SimTK::MatrixBase<double> const &)" (??$?DNN@SimTK@@YA?AV?$Matrix_@N@0@AEBV?$MatrixBase@N@0@0@Z)
1>PriorityLevel.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: __cdecl SimTK::MatrixHelper<double>::MatrixHelper<double>(int,int,class SimTK::MatrixCommitment const &,int,int)" (__imp_??0?$MatrixHelper@N@SimTK@@QEAA@HHAEBVMatrixCommitment@1@HH@Z)
1>Task.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: __cdecl SimTK::MatrixHelper<double>::MatrixHelper<double>(int,int,class SimTK::MatrixCommitment const &,int,int)" (__imp_??0?$MatrixHelper@N@SimTK@@QEAA@HHAEBVMatrixCommitment@1@HH@Z)
1>StationTask.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: __cdecl SimTK::MatrixHelper<double>::MatrixHelper<double>(int,int,class SimTK::MatrixCommitment const &,int,int)" (__imp_??0?$MatrixHelper@N@SimTK@@QEAA@HHAEBVMatrixCommitment@1@HH@Z)
1>Controller.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: __cdecl SimTK::MatrixHelper<double>::MatrixHelper<double>(class SimTK::MatrixCommitment const &,class SimTK::MatrixHelper<double> const &,class SimTK::MatrixHelper<double>::DeepCopy const &)" (__imp_??0?$MatrixHelper@N@SimTK@@QEAA@AEBVMatrixCommitment@1@AEBV01@AEBVDeepCopy@01@@Z) referenced in function "class SimTK::Matrix_<double> __cdecl SimTK::operator*<double>(int,class SimTK::MatrixBase<double> const &)" (??$?DN@SimTK@@YA?AV?$Matrix_@N@0@HAEBV?$MatrixBase@N@0@@Z)
1>PriorityLevel.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: __cdecl SimTK::MatrixHelper<double>::MatrixHelper<double>(class SimTK::MatrixCommitment const &,class SimTK::MatrixHelper<double> const &,class SimTK::MatrixHelper<double>::DeepCopy const &)" (__imp_??0?$MatrixHelper@N@SimTK@@QEAA@AEBVMatrixCommitment@1@AEBV01@AEBVDeepCopy@01@@Z)
1>Task.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: __cdecl SimTK::MatrixHelper<double>::MatrixHelper<double>(class SimTK::MatrixCommitment const &,class SimTK::MatrixHelper<double> const &,class SimTK::MatrixHelper<double>::DeepCopy const &)" (__imp_??0?$MatrixHelper@N@SimTK@@QEAA@AEBVMatrixCommitment@1@AEBV01@AEBVDeepCopy@01@@Z)
1>StationTask.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: __cdecl SimTK::MatrixHelper<double>::MatrixHelper<double>(class SimTK::MatrixCommitment const &,class SimTK::MatrixHelper<double> const &,class SimTK::MatrixHelper<double>::DeepCopy const &)" (__imp_??0?$MatrixHelper@N@SimTK@@QEAA@AEBVMatrixCommitment@1@AEBV01@AEBVDeepCopy@01@@Z)
1>Controller.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: __cdecl SimTK::MatrixHelper<double>::MatrixHelper<double>(class SimTK::MatrixCommitment const &,class SimTK::MatrixHelper<double> const &,int,int,int,int)" (__imp_??0?$MatrixHelper@N@SimTK@@QEAA@AEBVMatrixCommitment@1@AEBV01@HHHH@Z) referenced in function "public: class SimTK::VectorView_<double> __cdecl SimTK::MatrixBase<double>::col(int)const " (?col@?$MatrixBase@N@SimTK@@QEBA?AV?$VectorView_@N@2@H@Z)
1>PriorityLevel.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: __cdecl SimTK::MatrixHelper<double>::MatrixHelper<double>(class SimTK::MatrixCommitment const &,class SimTK::MatrixHelper<double> const &,int,int,int,int)" (__imp_??0?$MatrixHelper@N@SimTK@@QEAA@AEBVMatrixCommitment@1@AEBV01@HHHH@Z)
1>Task.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: __cdecl SimTK::MatrixHelper<double>::MatrixHelper<double>(class SimTK::MatrixCommitment const &,class SimTK::MatrixHelper<double> const &,int,int,int,int)" (__imp_??0?$MatrixHelper@N@SimTK@@QEAA@AEBVMatrixCommitment@1@AEBV01@HHHH@Z)
1>StationTask.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: __cdecl SimTK::MatrixHelper<double>::MatrixHelper<double>(class SimTK::MatrixCommitment const &,class SimTK::MatrixHelper<double> const &,int,int,int,int)" (__imp_??0?$MatrixHelper@N@SimTK@@QEAA@AEBVMatrixCommitment@1@AEBV01@HHHH@Z)
1>Controller.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: __cdecl SimTK::MatrixHelper<double>::MatrixHelper<double>(class SimTK::MatrixCommitment const &,class SimTK::MatrixHelper<double> const &,class SimTK::MatrixHelper<double>::TransposeView const &)" (__imp_??0?$MatrixHelper@N@SimTK@@QEAA@AEBVMatrixCommitment@1@AEBV01@AEBVTransposeView@01@@Z) referenced in function "public: class SimTK::MatrixView_<double> __cdecl SimTK::MatrixBase<double>::transpose(void)const " (?transpose@?$MatrixBase@N@SimTK@@QEBA?AV?$MatrixView_@N@2@XZ)
1>PriorityLevel.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: __cdecl SimTK::MatrixHelper<double>::MatrixHelper<double>(class SimTK::MatrixCommitment const &,class SimTK::MatrixHelper<double> const &,class SimTK::MatrixHelper<double>::TransposeView const &)" (__imp_??0?$MatrixHelper@N@SimTK@@QEAA@AEBVMatrixCommitment@1@AEBV01@AEBVTransposeView@01@@Z)
1>Task.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: __cdecl SimTK::MatrixHelper<double>::MatrixHelper<double>(class SimTK::MatrixCommitment const &,class SimTK::MatrixHelper<double> const &,class SimTK::MatrixHelper<double>::TransposeView const &)" (__imp_??0?$MatrixHelper@N@SimTK@@QEAA@AEBVMatrixCommitment@1@AEBV01@AEBVTransposeView@01@@Z)
1>Controller.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: __cdecl SimTK::MatrixHelper<double>::MatrixHelper<double>(class SimTK::MatrixCommitment const &,class SimTK::MatrixHelper<double> &,class SimTK::MatrixHelper<double>::DiagonalView const &)" (__imp_??0?$MatrixHelper@N@SimTK@@QEAA@AEBVMatrixCommitment@1@AEAV01@AEBVDiagonalView@01@@Z) referenced in function "public: class SimTK::VectorView_<double> __cdecl SimTK::MatrixBase<double>::updDiag(void)" (?updDiag@?$MatrixBase@N@SimTK@@QEAA?AV?$VectorView_@N@2@XZ)
1>PriorityLevel.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: __cdecl SimTK::MatrixHelper<double>::MatrixHelper<double>(class SimTK::MatrixCommitment const &,class SimTK::MatrixHelper<double> &,class SimTK::MatrixHelper<double>::DiagonalView const &)" (__imp_??0?$MatrixHelper@N@SimTK@@QEAA@AEBVMatrixCommitment@1@AEAV01@AEBVDiagonalView@01@@Z)
1>Controller.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: class SimTK::MatrixHelper<double> & __cdecl SimTK::MatrixHelper<double>::copyAssign(class SimTK::MatrixHelper<double> const &)" (__imp_?copyAssign@?$MatrixHelper@N@SimTK@@QEAAAEAV12@AEBV12@@Z) referenced in function "public: virtual void __cdecl OpenSim::TaskSpace::Controller::computeControls(class SimTK::State const &,class SimTK::Vector_<double> &)const " (?computeControls@Controller@TaskSpace@OpenSim@@UEBAXAEBVState@SimTK@@AEAV?$Vector_@N@5@@Z)
1>PriorityLevel.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: class SimTK::MatrixHelper<double> & __cdecl SimTK::MatrixHelper<double>::copyAssign(class SimTK::MatrixHelper<double> const &)" (__imp_?copyAssign@?$MatrixHelper@N@SimTK@@QEAAAEAV12@AEBV12@@Z)
1>Controller.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: double * __cdecl SimTK::MatrixHelper<double>::updElt(int,int)" (__imp_?updElt@?$MatrixHelper@N@SimTK@@QEAAPEANHH@Z) referenced in function "class SimTK::Matrix_<double> __cdecl SimTK::operator*<double,double>(class SimTK::MatrixBase<double> const &,class SimTK::MatrixBase<double> const &)" (??$?DNN@SimTK@@YA?AV?$Matrix_@N@0@AEBV?$MatrixBase@N@0@0@Z)
1>PriorityLevel.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: double * __cdecl SimTK::MatrixHelper<double>::updElt(int,int)" (__imp_?updElt@?$MatrixHelper@N@SimTK@@QEAAPEANHH@Z)
1>Task.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: double * __cdecl SimTK::MatrixHelper<double>::updElt(int,int)" (__imp_?updElt@?$MatrixHelper@N@SimTK@@QEAAPEANHH@Z)
1>StationTask.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: double * __cdecl SimTK::MatrixHelper<double>::updElt(int,int)" (__imp_?updElt@?$MatrixHelper@N@SimTK@@QEAAPEANHH@Z)
1>Controller.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: double const * __cdecl SimTK::MatrixHelper<double>::getElt(int)const " (__imp_?getElt@?$MatrixHelper@N@SimTK@@QEBAPEBNH@Z) referenced in function "class SimTK::Matrix_<double> __cdecl SimTK::operator*<double,double>(class SimTK::MatrixBase<double> const &,class SimTK::MatrixBase<double> const &)" (??$?DNN@SimTK@@YA?AV?$Matrix_@N@0@AEBV?$MatrixBase@N@0@0@Z)
1>PriorityLevel.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: double const * __cdecl SimTK::MatrixHelper<double>::getElt(int)const " (__imp_?getElt@?$MatrixHelper@N@SimTK@@QEBAPEBNH@Z)
1>Task.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: double const * __cdecl SimTK::MatrixHelper<double>::getElt(int)const " (__imp_?getElt@?$MatrixHelper@N@SimTK@@QEBAPEBNH@Z)
1>StationTask.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: double const * __cdecl SimTK::MatrixHelper<double>::getElt(int)const " (__imp_?getElt@?$MatrixHelper@N@SimTK@@QEBAPEBNH@Z)
1>Controller.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: double * __cdecl SimTK::MatrixHelper<double>::updElt(int)" (__imp_?updElt@?$MatrixHelper@N@SimTK@@QEAAPEANH@Z) referenced in function "class SimTK::Vector_<double> __cdecl SimTK::operator*<double,double>(class SimTK::MatrixBase<double> const &,class SimTK::VectorBase<double> const &)" (??$?DNN@SimTK@@YA?AV?$Vector_@N@0@AEBV?$MatrixBase@N@0@AEBV?$VectorBase@N@0@@Z)
1>PriorityLevel.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: double * __cdecl SimTK::MatrixHelper<double>::updElt(int)" (__imp_?updElt@?$MatrixHelper@N@SimTK@@QEAAPEANH@Z)
1>Task.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: double * __cdecl SimTK::MatrixHelper<double>::updElt(int)" (__imp_?updElt@?$MatrixHelper@N@SimTK@@QEAAPEANH@Z)
1>StationTask.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: double * __cdecl SimTK::MatrixHelper<double>::updElt(int)" (__imp_?updElt@?$MatrixHelper@N@SimTK@@QEAAPEANH@Z)
1>Controller.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: void __cdecl SimTK::MatrixHelper<double>::addIn(class SimTK::MatrixHelper<double> const &)" (__imp_?addIn@?$MatrixHelper@N@SimTK@@QEAAXAEBV12@@Z) referenced in function "class SimTK::Vector_<double> __cdecl SimTK::operator+<double,double>(class SimTK::VectorBase<double> const &,class SimTK::VectorBase<double> const &)" (??$?HNN@SimTK@@YA?AV?$Vector_@N@0@AEBV?$VectorBase@N@0@0@Z)
1>Controller.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: void __cdecl SimTK::MatrixHelper<double>::subIn(class SimTK::MatrixHelper<double> const &)" (__imp_?subIn@?$MatrixHelper@N@SimTK@@QEAAXAEBV12@@Z) referenced in function "class SimTK::Vector_<double> __cdecl SimTK::operator-<double,double>(class SimTK::VectorBase<double> const &,class SimTK::VectorBase<double> const &)" (??$?GNN@SimTK@@YA?AV?$Vector_@N@0@AEBV?$VectorBase@N@0@0@Z)
1>PriorityLevel.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: void __cdecl SimTK::MatrixHelper<double>::subIn(class SimTK::MatrixHelper<double> const &)" (__imp_?subIn@?$MatrixHelper@N@SimTK@@QEAAXAEBV12@@Z)
1>Controller.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: void __cdecl SimTK::MatrixHelper<double>::fillWith(double const *)" (__imp_?fillWith@?$MatrixHelper@N@SimTK@@QEAAXPEBN@Z) referenced in function "public: virtual void __cdecl OpenSim::TaskSpace::Controller::computeControls(class SimTK::State const &,class SimTK::Vector_<double> &)const " (?computeControls@Controller@TaskSpace@OpenSim@@UEBAXAEBVState@SimTK@@AEAV?$Vector_@N@5@@Z)
1>PriorityLevel.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: void __cdecl SimTK::MatrixHelper<double>::fillWith(double const *)" (__imp_?fillWith@?$MatrixHelper@N@SimTK@@QEAAXPEBN@Z)
1>Controller.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: void __cdecl SimTK::MatrixHelper<double>::fillWithScalar(double const &)" (__imp_?fillWithScalar@?$MatrixHelper@N@SimTK@@QEAAXAEBN@Z) referenced in function "public: virtual void __cdecl OpenSim::TaskSpace::Controller::computeControls(class SimTK::State const &,class SimTK::Vector_<double> &)const " (?computeControls@Controller@TaskSpace@OpenSim@@UEBAXAEBVState@SimTK@@AEAV?$Vector_@N@5@@Z)
1>PriorityLevel.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: void __cdecl SimTK::MatrixHelper<double>::fillWithScalar(double const &)" (__imp_?fillWithScalar@?$MatrixHelper@N@SimTK@@QEAAXAEBN@Z)
1>Controller.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: void __cdecl SimTK::MatrixHelper<double>::scaleBy(double const &)" (__imp_?scaleBy@?$MatrixHelper@N@SimTK@@QEAAXAEBN@Z) referenced in function "class SimTK::Matrix_<double> __cdecl SimTK::operator*<double>(int,class SimTK::MatrixBase<double> const &)" (??$?DN@SimTK@@YA?AV?$Matrix_@N@0@HAEBV?$MatrixBase@N@0@@Z)
1>Controller.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: int __cdecl SimTK::MatrixHelper<double>::nrow(void)const " (__imp_?nrow@?$MatrixHelper@N@SimTK@@QEBAHXZ) referenced in function "class SimTK::Matrix_<double> __cdecl SimTK::operator*<double,double>(class SimTK::MatrixBase<double> const &,class SimTK::MatrixBase<double> const &)" (??$?DNN@SimTK@@YA?AV?$Matrix_@N@0@AEBV?$MatrixBase@N@0@0@Z)
1>PriorityLevel.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: int __cdecl SimTK::MatrixHelper<double>::nrow(void)const " (__imp_?nrow@?$MatrixHelper@N@SimTK@@QEBAHXZ)
1>Task.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: int __cdecl SimTK::MatrixHelper<double>::nrow(void)const " (__imp_?nrow@?$MatrixHelper@N@SimTK@@QEBAHXZ)
1>StationTask.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: int __cdecl SimTK::MatrixHelper<double>::nrow(void)const " (__imp_?nrow@?$MatrixHelper@N@SimTK@@QEBAHXZ)
1>Controller.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: int __cdecl SimTK::MatrixHelper<double>::ncol(void)const " (__imp_?ncol@?$MatrixHelper@N@SimTK@@QEBAHXZ) referenced in function "class SimTK::Matrix_<double> __cdecl SimTK::operator*<double,double>(class SimTK::MatrixBase<double> const &,class SimTK::MatrixBase<double> const &)" (??$?DNN@SimTK@@YA?AV?$Matrix_@N@0@AEBV?$MatrixBase@N@0@0@Z)
1>PriorityLevel.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: int __cdecl SimTK::MatrixHelper<double>::ncol(void)const " (__imp_?ncol@?$MatrixHelper@N@SimTK@@QEBAHXZ)
1>Task.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: int __cdecl SimTK::MatrixHelper<double>::ncol(void)const " (__imp_?ncol@?$MatrixHelper@N@SimTK@@QEBAHXZ)
1>StationTask.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: int __cdecl SimTK::MatrixHelper<double>::ncol(void)const " (__imp_?ncol@?$MatrixHelper@N@SimTK@@QEBAHXZ)
1>Controller.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: class SimTK::MatrixCommitment const & __cdecl SimTK::MatrixHelper<double>::getCharacterCommitment(void)const " (__imp_?getCharacterCommitment@?$MatrixHelper@N@SimTK@@QEBAAEBVMatrixCommitment@2@XZ) referenced in function "class SimTK::Matrix_<double> __cdecl SimTK::operator*<double>(int,class SimTK::MatrixBase<double> const &)" (??$?DN@SimTK@@YA?AV?$Matrix_@N@0@HAEBV?$MatrixBase@N@0@@Z)
1>PriorityLevel.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: class SimTK::MatrixCommitment const & __cdecl SimTK::MatrixHelper<double>::getCharacterCommitment(void)const " (__imp_?getCharacterCommitment@?$MatrixHelper@N@SimTK@@QEBAAEBVMatrixCommitment@2@XZ)
1>Task.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: class SimTK::MatrixCommitment const & __cdecl SimTK::MatrixHelper<double>::getCharacterCommitment(void)const " (__imp_?getCharacterCommitment@?$MatrixHelper@N@SimTK@@QEBAAEBVMatrixCommitment@2@XZ)
1>StationTask.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: class SimTK::MatrixCommitment const & __cdecl SimTK::MatrixHelper<double>::getCharacterCommitment(void)const " (__imp_?getCharacterCommitment@?$MatrixHelper@N@SimTK@@QEBAAEBVMatrixCommitment@2@XZ)
1>Controller.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: __cdecl SimTK::MatrixHelper<double>::MatrixHelper<double>(class SimTK::MatrixHelperRep<double> *)" (__imp_??0?$MatrixHelper@N@SimTK@@QEAA@PEAV?$MatrixHelperRep@N@1@@Z) referenced in function "public: class SimTK::VectorView_<double> __cdecl SimTK::MatrixBase<double>::col(int)const " (?col@?$MatrixBase@N@SimTK@@QEBA?AV?$VectorView_@N@2@H@Z)
1>PriorityLevel.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: __cdecl SimTK::MatrixHelper<double>::MatrixHelper<double>(class SimTK::MatrixHelperRep<double> *)" (__imp_??0?$MatrixHelper@N@SimTK@@QEAA@PEAV?$MatrixHelperRep@N@1@@Z)
1>Task.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: __cdecl SimTK::MatrixHelper<double>::MatrixHelper<double>(class SimTK::MatrixHelperRep<double> *)" (__imp_??0?$MatrixHelper@N@SimTK@@QEAA@PEAV?$MatrixHelperRep@N@1@@Z)
1>StationTask.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: __cdecl SimTK::MatrixHelper<double>::MatrixHelper<double>(class SimTK::MatrixHelperRep<double> *)" (__imp_??0?$MatrixHelper@N@SimTK@@QEAA@PEAV?$MatrixHelperRep@N@1@@Z)
1>PriorityLevel.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: __cdecl SimTK::MatrixHelper<double>::MatrixHelper<double>(class SimTK::MatrixCommitment const &,class SimTK::MatrixHelper<double> &,int,int,int,int)" (__imp_??0?$MatrixHelper@N@SimTK@@QEAA@AEBVMatrixCommitment@1@AEAV01@HHHH@Z) referenced in function "public: class SimTK::MatrixView_<double> __cdecl SimTK::MatrixBase<double>::updBlock(int,int,int,int)" (?updBlock@?$MatrixBase@N@SimTK@@QEAA?AV?$MatrixView_@N@2@HHHH@Z)
1>Task.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: __cdecl SimTK::MatrixHelper<double>::MatrixHelper<double>(class SimTK::MatrixCommitment const &,class SimTK::MatrixHelper<double> &,int,int,int,int)" (__imp_??0?$MatrixHelper@N@SimTK@@QEAA@AEBVMatrixCommitment@1@AEAV01@HHHH@Z)
1>PriorityLevel.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: __cdecl SimTK::FactorLU::~FactorLU(void)" (__imp_??1FactorLU@SimTK@@QEAA@XZ) referenced in function "public: class SimTK::Matrix_<double> __cdecl OpenSim::TaskSpace::PriorityLevel::taskSpaceMassMatrix(class SimTK::State const &)const " (?taskSpaceMassMatrix@PriorityLevel@TaskSpace@OpenSim@@QEBA?AV?$Matrix_@N@SimTK@@AEBVState@5@@Z)
1>Task.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: __cdecl SimTK::FactorLU::~FactorLU(void)" (__imp_??1FactorLU@SimTK@@QEAA@XZ)
1>PriorityLevel.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: class SimTK::SimbodyMatterSubsystem const & __cdecl SimTK::MultibodySystem::getMatterSubsystem(void)const " (__imp_?getMatterSubsystem@MultibodySystem@SimTK@@QEBAAEBVSimbodyMatterSubsystem@2@XZ) referenced in function "public: class SimTK::Matrix_<double> __cdecl OpenSim::TaskSpace::PriorityLevel::dynamicallyConsistentJacobianInverse(class SimTK::State const &)const " (?dynamicallyConsistentJacobianInverse@PriorityLevel@TaskSpace@OpenSim@@QEBA?AV?$Matrix_@N@SimTK@@AEBVState@5@@Z)
1>Task.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: class SimTK::SimbodyMatterSubsystem const & __cdecl SimTK::MultibodySystem::getMatterSubsystem(void)const " (__imp_?getMatterSubsystem@MultibodySystem@SimTK@@QEBAAEBVSimbodyMatterSubsystem@2@XZ)
1>StationTask.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: class SimTK::SimbodyMatterSubsystem const & __cdecl SimTK::MultibodySystem::getMatterSubsystem(void)const " (__imp_?getMatterSubsystem@MultibodySystem@SimTK@@QEBAAEBVSimbodyMatterSubsystem@2@XZ)
1>PriorityLevel.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: void __cdecl SimTK::SimbodyMatterSubsystem::multiplyByMInv(class SimTK::State const &,class SimTK::Vector_<double> const &,class SimTK::Vector_<double> &)const " (__imp_?multiplyByMInv@SimbodyMatterSubsystem@SimTK@@QEBAXAEBVState@2@AEBV?$Vector_@N@2@AEAV42@@Z) referenced in function "public: class SimTK::Matrix_<double> __cdecl OpenSim::TaskSpace::PriorityLevel::dynamicallyConsistentJacobianInverse(class SimTK::State const &)const " (?dynamicallyConsistentJacobianInverse@PriorityLevel@TaskSpace@OpenSim@@QEBA?AV?$Matrix_@N@SimTK@@AEBVState@5@@Z)
1>Task.obj : error LNK2001: unresolved external symbol "__declspec(dllimport) public: void __cdecl SimTK::SimbodyMatterSubsystem::multiplyByMInv(class SimTK::State const &,class SimTK::Vector_<double> const &,class SimTK::Vector_<double> &)const " (__imp_?multiplyByMInv@SimbodyMatterSubsystem@SimTK@@QEBAXAEBVState@2@AEBV?$Vector_@N@2@AEAV42@@Z)
1>PriorityLevel.obj : error LNK2019: unresolved external symbol "public: __cdecl SimTK::FactorLU::FactorLU<double>(class SimTK::Matrix_<double> const &)" (??$?0N@FactorLU@SimTK@@QEAA@AEBV?$Matrix_@N@1@@Z) referenced in function "public: class SimTK::Matrix_<double> __cdecl OpenSim::TaskSpace::PriorityLevel::taskSpaceMassMatrix(class SimTK::State const &)const " (?taskSpaceMassMatrix@PriorityLevel@TaskSpace@OpenSim@@QEBA?AV?$Matrix_@N@SimTK@@AEBVState@5@@Z)
1>Task.obj : error LNK2001: unresolved external symbol "public: __cdecl SimTK::FactorLU::FactorLU<double>(class SimTK::Matrix_<double> const &)" (??$?0N@FactorLU@SimTK@@QEAA@AEBV?$Matrix_@N@1@@Z)
1>PriorityLevel.obj : error LNK2019: unresolved external symbol "public: void __cdecl SimTK::FactorLU::inverse<double>(class SimTK::Matrix_<double> &)const " (??$inverse@N@FactorLU@SimTK@@QEBAXAEAV?$Matrix_@N@1@@Z) referenced in function "public: class SimTK::Matrix_<double> __cdecl OpenSim::TaskSpace::PriorityLevel::taskSpaceMassMatrix(class SimTK::State const &)const " (?taskSpaceMassMatrix@PriorityLevel@TaskSpace@OpenSim@@QEBA?AV?$Matrix_@N@SimTK@@AEBVState@5@@Z)
1>Task.obj : error LNK2001: unresolved external symbol "public: void __cdecl SimTK::FactorLU::inverse<double>(class SimTK::Matrix_<double> &)const " (??$inverse@N@FactorLU@SimTK@@QEBAXAEAV?$Matrix_@N@1@@Z)
1>Task.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: class SimTK::Vector_<class SimTK::Vec<2,class SimTK::Vec<3,double,1>,1> > const & __cdecl SimTK::Force::Gravity::getBodyForces(class SimTK::State const &)const " (__imp_?getBodyForces@Gravity@Force@SimTK@@QEBAAEBV?$Vector_@V?$Vec@$01V?$Vec@$02N$00@SimTK@@$00@SimTK@@@3@AEBVState@3@@Z) referenced in function "public: class SimTK::Vector_<double> __cdecl OpenSim::TaskSpace::Task::taskSpaceGravity(class SimTK::State const &)const " (?taskSpaceGravity@Task@TaskSpace@OpenSim@@QEBA?AV?$Vector_@N@SimTK@@AEBVState@5@@Z)
1>Task.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: void __cdecl SimTK::SimbodyMatterSubsystem::multiplyBySystemJacobianTranspose(class SimTK::State const &,class SimTK::Vector_<class SimTK::Vec<2,class SimTK::Vec<3,double,1>,1> > const &,class SimTK::Vector_<double> &)const " (__imp_?multiplyBySystemJacobianTranspose@SimbodyMatterSubsystem@SimTK@@QEBAXAEBVState@2@AEBV?$Vector_@V?$Vec@$01V?$Vec@$02N$00@SimTK@@$00@SimTK@@@2@AEAV?$Vector_@N@2@@Z) referenced in function "public: class SimTK::Vector_<double> __cdecl OpenSim::TaskSpace::Task::taskSpaceGravity(class SimTK::State const &)const " (?taskSpaceGravity@Task@TaskSpace@OpenSim@@QEBA?AV?$Vector_@N@SimTK@@AEBVState@5@@Z)
1>StationTask.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: __cdecl SimTK::MatrixHelper<double>::MatrixHelper<double>(int,int)" (__imp_??0?$MatrixHelper@N@SimTK@@QEAA@HH@Z) referenced in function "public: virtual class SimTK::Matrix_<double> __cdecl OpenSim::TaskSpace::StationTask::jacobian(class SimTK::State const &)const " (?jacobian@StationTask@TaskSpace@OpenSim@@UEBA?AV?$Matrix_@N@SimTK@@AEBVState@5@@Z)
1>StationTask.obj : error LNK2019: unresolved external symbol "__declspec(dllimport) public: void __cdecl SimTK::SimbodyMatterSubsystem::calcStationJacobian(class SimTK::State const &,class SimTK::MobilizedBodyIndex,class SimTK::Vec<3,double,1> const &,class SimTK::Matrix_<double> &)const " (__imp_?calcStationJacobian@SimbodyMatterSubsystem@SimTK@@QEBAXAEBVState@2@VMobilizedBodyIndex@2@AEBV?$Vec@$02N$00@2@AEAV?$Matrix_@N@2@@Z) referenced in function "public: virtual class SimTK::Matrix_<double> __cdecl OpenSim::TaskSpace::StationTask::jacobian(class SimTK::State const &)const " (?jacobian@StationTask@TaskSpace@OpenSim@@UEBA?AV?$Matrix_@N@SimTK@@AEBVState@5@@Z)
1>C:\OpenSimWorkspace\opensim-taskspacecontrol-master-build\TaskSpace\Release\osimTaskSpaceControl.dll : fatal error LNK1120: 44 unresolved externals
Could I please get some pointers on how to resolve this?

Thank you.

Kenechukwu
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Kenechukwu Mbanisi
Posts: 51
Joined: Fri Feb 10, 2017 2:50 pm

Re: Task space controller

Post by Kenechukwu Mbanisi » Tue Jul 04, 2017 10:45 pm

Hello All,

Please can I get some help here?

Thank you.

Kenechukwu
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