Opensim - Linux

[Gautam Ramachandra]

I am trying to compile a .cpp file in ubuntu but I am having some problems with the compilation as to linking the libraries of opensim, following is the run command

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g++ -lm tugofwar.cpp -o tugofwarmodel -std=c++11 -I ../../../open/include/SimTK/ -I ../../include    -L/open/lib  -L/open/bin  -losimSimulation -losimActuators -losimCommon -losimAnalyses -losimTools -lSimTKcommon -lSimTKmath -lSimTKsimbody

The error is tugofwar.cpp:2:29: fatal error: OpenSim/OpenSim.h: No such file or directory
#include <OpenSim/OpenSim.h>

My opensim installation is in home directory in Ubuntu

Please help me with this.

[Dimitar Stanev]

You need to provide the OpenSim include directory.

[Gautam Ramachandra]

Hi, I have provided the include library but somehow it is saying no such file or directory, in my run command here I have included that

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g++ -lm tugofwar.cpp -o tugofwarmodel -std=c++11 -I ../../../open/include/SimTK/ -I ../../include    -L/open/lib  -L/open/bin  -losimSimulation -losimActuators -losimCommon -losimAnalyses -losimTools -lSimTKcommon -lSimTKmath -lSimTKsimbody

I am not getting the point because include library folder is not there in the installation folder of opensim when i instlall in linux

[Dimitar Stanev]

I think you have to define the absolute path and also you don't add a space after -I. Why don't you try using the CMake module to take care of all the dependencies?

[Gautam Ramachandra]

Absolute path meaning ? And I did use CMAKE for the installation but here what I am trying to do is I have a .cpp file with some control codes and I am compiling my tug of war model again so when it gets compiled it will be converted to .exe file with the control algorithm in it. So how can I do this in cmake ?

[Dimitar Stanev]

Absolute path is the whole path while relative is with respect to your current dir, but I think gcc does not know your current dir. If you look at the OpenSim installation folder, there should be an example folder with projects using CMake, use these files as a starting point.

[Gautam Ramachandra]

Yeah I got the include directory correct, I am sorry I thought include folder in the opensim, I did not know that you were referring to "-I" command in C++, yeah its working fine but now i am getting this error

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gautam@ubuntu:~/b/tow$ g++ -lm tugofwar.cpp -o tugofwarmodel -std=c++11 -I/home/gautam/opensim/sdk/include/SimTK/simbody -I/home/gautam/opensim/sdk/include    -L/home/gautam/opensim/lib  -L/home/gautam/opensim/bin  -losimSimulation -losimActuators -losimCommon -losimAnalyses -losimTools -lSimTKcommon -lSimTKmath -lSimTKsimbody
tugofwar.cpp: In function ‘int main(int, char**)’:
tugofwar.cpp:560:30: error: call of overloaded ‘isnan(double&)’ is ambiguous
                 if (isnan(err))
                              ^
tugofwar.cpp:560:30: note: candidates are:
In file included from /usr/include/features.h:374:0,
                 from /usr/include/x86_64-linux-gnu/c++/4.8/bits/os_defines.h:39,
                 from /usr/include/x86_64-linux-gnu/c++/4.8/bits/c++config.h:426,
                 from /usr/include/c++/4.8/iostream:38,
                 from /home/gautam/opensim/sdk/include/OpenSim/Common/XMLDocument.h:32,
                 from /home/gautam/opensim/sdk/include/OpenSim/Common/Object.h:39,
                 from /home/gautam/opensim/sdk/include/OpenSim/Common/osimCommon.h:26,
                 from /home/gautam/opensim/sdk/include/OpenSim/OpenSim.h:26,
                 from tugofwar.cpp:2:
/usr/include/x86_64-linux-gnu/bits/mathcalls.h:234:1: note: int isnan(double)
 __MATHDECL_1 (int,isnan,, (_Mdouble_ __value)) __attribute__ ((__const__));
 ^
In file included from /home/gautam/opensim/sdk/include/SimTK/simbody/SimTKcommon/internal/common.h:249:0,
                 from /home/gautam/opensim/sdk/include/SimTK/simbody/SimTKcommon/basics.h:38,
                 from /home/gautam/opensim/sdk/include/SimTK/simbody/SimTKcommon.h:32,
                 from /home/gautam/opensim/sdk/include/OpenSim/Common/XMLDocument.h:34,
                 from /home/gautam/opensim/sdk/include/OpenSim/Common/Object.h:39,
                 from /home/gautam/opensim/sdk/include/OpenSim/Common/osimCommon.h:26,
                 from /home/gautam/opensim/sdk/include/OpenSim/OpenSim.h:26,
                 from tugofwar.cpp:2:
/usr/include/c++/4.8/cmath:626:3: note: constexpr bool std::isnan(long double)
   isnan(long double __x)
   ^
/usr/include/c++/4.8/cmath:622:3: note: constexpr bool std::isnan(double)
   isnan(double __x)
   ^
/usr/include/c++/4.8/cmath:618:3: note: constexpr bool std::isnan(float)
   isnan(float __x)

Please help me with this error

[Dimitar Stanev]

You are compiling with an older version of g++. You need g++ > v4.9. Read the requirements:

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

Again I will pursuit you to use CMake for many many reasons.

Best

[Gautam Ramachandra]

It is showing the same error as follows with g++ version of 5.0 and regarding the cmake its kind of complicated to do it in linux. But please help me to debug this error .

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gautam@ubuntu:~/b/tow$ g++ -lm tugofwar.cpp -o tugofwarmodel -std=c++11 -I/home/gautam/opensim/sdk/include/SimTK/simbody -I/home/gautam/opensim/sdk/include    -L/home/gautam/opensim/lib  -L/home/gautam/opensim/bin  -losimSimulation -losimActuators -losimCommon -losimAnalyses -losimTools -lSimTKcommon -lSimTKmath -lSimTKsimbody
tugofwar.cpp: In function ‘int main(int, char**)’:
tugofwar.cpp:560:30: error: call of overloaded ‘isnan(double&)’ is ambiguous
                 if (isnan(err))
                              ^
In file included from /usr/include/features.h:374:0,
                 from /usr/include/x86_64-linux-gnu/c++/5/bits/os_defines.h:39,
                 from /usr/include/x86_64-linux-gnu/c++/5/bits/c++config.h:482,
                 from /usr/include/c++/5/iostream:38,
                 from /home/gautam/opensim/sdk/include/OpenSim/Common/XMLDocument.h:32,
                 from /home/gautam/opensim/sdk/include/OpenSim/Common/Object.h:39,
                 from /home/gautam/opensim/sdk/include/OpenSim/Common/osimCommon.h:26,
                 from /home/gautam/opensim/sdk/include/OpenSim/OpenSim.h:26,
                 from tugofwar.cpp:2:
/usr/include/x86_64-linux-gnu/bits/mathcalls.h:234:1: note: candidate: int isnan(double)
 __MATHDECL_1 (int,isnan,, (_Mdouble_ __value)) __attribute__ ((__const__));
 ^
In file included from /home/gautam/opensim/sdk/include/SimTK/simbody/SimTKcommon/internal/common.h:249:0,
                 from /home/gautam/opensim/sdk/include/SimTK/simbody/SimTKcommon/basics.h:38,
                 from /home/gautam/opensim/sdk/include/SimTK/simbody/SimTKcommon.h:32,
                 from /home/gautam/opensim/sdk/include/OpenSim/Common/XMLDocument.h:34,
                 from /home/gautam/opensim/sdk/include/OpenSim/Common/Object.h:39,
                 from /home/gautam/opensim/sdk/include/OpenSim/Common/osimCommon.h:26,
                 from /home/gautam/opensim/sdk/include/OpenSim/OpenSim.h:26,
                 from tugofwar.cpp:2:
/usr/include/c++/5/cmath:634:3: note: candidate: constexpr bool std::isnan(long double)
   isnan(long double __x)
   ^
/usr/include/c++/5/cmath:630:3: note: candidate: constexpr bool std::isnan(double)
   isnan(double __x)
   ^
/usr/include/c++/5/cmath:626:3: note: candidate: constexpr bool std::isnan(float)
   isnan(float __x)
   ^

[Dimitar Stanev]

You could avoid these kind of problems through CMake, and the tool will inform you if you have misconfigured the installation. Please post your tugofwar.cpp, maybe the problem is there.