Author: Sagar Behera (behere@kth.se) 
Date: August 2009

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It seems that the mpk was designed for old versions of gcc and does not compile cleanly on recent versions. I am using Ubuntu Jaunty Jackalope with gcc-4.3.3 and compilation grinds to a halt almost immediately. For the list of errors, see attached file "compilation_issues.txt" (or see at the end)

In order to fix these, I did the following

1) Replace the <hash_map.h> in mpkTransform.H with
       <ext/hash_map>
       using namespace __gnu_cxx;

2) Added #include <stdlib.h> after #include <values.h> in mpk_defs.h
3) Added #include <cstdlib> to mpkTransform.H
4) Replaced <algo.h> with <ext/algorithm> in sblPlanner.cpp and sblRn.cpp

That's it, I think. However even with these changes, gcc spits out warnings that the code is using deprecated functions, which will be removed without warning in future versions. But at least it compiled the library and the demo programs.





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"compilation_issues.txt":
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sagar@MaybeMagic:~/mpk_v1.0$ make
cd basic; make;
make[1]: Entering directory `/home/sagar/mpk_v1.0/basic'
g++ -c -O2 -DADAPT_COLLCHECKER=1 -DTRANSFORM_CACHE=1 -I. -I../robots -I/usr/X11R6/include -I/home/sagar/PQP_v1.3/src -I/home/sagar/ball mpkBaseRobot.cpp -o mpkBaseRobot.o
In file included from mpkBaseRobot.H:15,
                 from mpkBaseRobot.cpp:2:
mpkTransformCache.H:4:22: error: hash_map.h: No such file or directory
In file included from mpkBaseRobot.H:8,
                 from mpkBaseRobot.cpp:2:
mpk_defs.h: In function ¡Ævoid mpk_exit(int)¡Ç:
mpk_defs.h:20: error: ¡Æexit¡Ç was not declared in this scope
In file included from mpkBaseRobot.H:12,
                 from mpkBaseRobot.cpp:2:
mpkTransform.H: In constructor ¡ÆmpkTransform::mpkTransform(mpkTransform::TYPE, int, void (*)(mpkTransform&, const double*), void (*)(mpkTransform&, const double*))¡Ç:
mpkTransform.H:328: error: ¡Æexit¡Ç was not declared in this scope
In file included from mpkBaseRobot.H:15,
                 from mpkBaseRobot.cpp:2:
mpkTransformCache.H: At global scope:
mpkTransformCache.H:103: error: ISO C++ forbids declaration of ¡Æhash_map¡Ç with no type
mpkTransformCache.H:103: error: expected ¡Æ;¡Ç before ¡Æ<¡Ç token
mpkTransformCache.H:104: error: ISO C++ forbids declaration of ¡Æhash_map¡Ç with no type
mpkTransformCache.H:104: error: expected ¡Æ;¡Ç before ¡Æ<¡Ç token
mpkTransformCache.H: In constructor ¡ÆmpkTransformCache::mpkTransformCache(int)¡Ç:
mpkTransformCache.H:30: error: ¡Æcache¡Ç was not declared in this scope
mpkTransformCache.H: In member function ¡Ævoid mpkTransformCache::clear()¡Ç:
mpkTransformCache.H:36: error: ¡Æcache¡Ç was not declared in this scope
mpkTransformCache.H: In member function ¡Æbool mpkTransformCache::insert(const mpkTransform&, unsigned int, unsigned int, unsigned int)¡Ç:
mpkTransformCache.H:44: error: ¡Æcache¡Ç was not declared in this scope
mpkTransformCache.H:44: error: ¡Æhash_map¡Ç was not declared in this scope
mpkTransformCache.H:44: error: expected primary-expression before ¡Æ,¡Ç token
mpkTransformCache.H:44: error: expected primary-expression before ¡Æ,¡Ç token
mpkTransformCache.H:44: error: expected primary-expression before ¡Æ,¡Ç token
mpkTransformCache.H:44: error: expected primary-expression before ¡Æ>¡Ç token
mpkTransformCache.H:45: error: ¡Æ::value_type¡Ç has not been declared
mpkTransformCache.H: In member function ¡Æbool mpkTransformCache::load(mpkTransform&, unsigned int, unsigned int, unsigned int)¡Ç:
mpkTransformCache.H:54: error: ¡Æit¡Ç was not declared in this scope
mpkTransformCache.H:54: error: ¡Æcache¡Ç was not declared in this scope
mpkBaseRobot.cpp: In constructor ¡ÆmpkBaseRobot::mpkBaseRobot(const char*, const char*, const mpkTransform&, double)¡Ç:
mpkBaseRobot.cpp:186: error: ¡Ægetenv¡Ç was not declared in this scope
mpkBaseRobot.cpp:244: error: ¡Æatof¡Ç was not declared in this scope
mpkBaseRobot.cpp:250: error: ¡Æatof¡Ç was not declared in this scope
mpkBaseRobot.cpp:257: error: ¡Æatof¡Ç was not declared in this scope
mpkBaseRobot.cpp:266: error: ¡Æatof¡Ç was not declared in this scope
mpkBaseRobot.cpp:275: error: ¡Æatof¡Ç was not declared in this scope
mpkBaseRobot.cpp:288: error: ¡Æatoi¡Ç was not declared in this scope
mpkBaseRobot.cpp:341: error: ¡Æatoi¡Ç was not declared in this scope
mpkBaseRobot.cpp:354: error: ¡Æatof¡Ç was not declared in this scope
mpkBaseRobot.cpp:358: error: ¡Æatof¡Ç was not declared in this scope
mpkBaseRobot.cpp: In function ¡Ævoid show_sphere(mpkBaseRobot::Joint*, int, int, double*, double)¡Ç:
mpkBaseRobot.cpp:678: error: ¡Ægetenv¡Ç was not declared in this scope
mpkBaseRobot.cpp:679: error: ¡Æatoi¡Ç was not declared in this scope
mpkBaseRobot.cpp:681: error: ¡Æatoi¡Ç was not declared in this scope
make[1]: *** [mpkBaseRobot.o] Error 1
make[1]: Leaving directory `/home/sagar/mpk_v1.0/basic'
make: *** [libs] Error 2
sagar@MaybeMagic:~/mpk_v1.0$