编译器错误消息错误：'*'标记之前的预期'）'。 我的构造函数出错

Question

I keep getting the following compiler error

In file included from /home/armon/Development/groovy_workspace/sandbox/smart_wheelchair/trunk/smart_wheelchair/state_machine_planner/src/BasicControllerState.cpp:1:0: /home/armon/Development/groovy_workspace/sandbox/smart_wheelchair/trunk/smart_wheelchair/state_machine_planner/include/state_machine_planner/BasicControllerState.h:38:49: error: expected ')' before '*' token
/home/armon/Development/groovy_workspace/sandbox/smart_wheelchair/trunk/smart_wheelchair/state_machine_planner/src/BasicControllerState.cpp:4:44: error: expected constructor, destructor, or type conversion before '(' token In file included from /home/armon/Development/groovy_workspace/sandbox/smart_wheelchair/trunk/smart_wheelchair/state_machine_planner/include/state_machine_planner/StateMachinePlanner.h:16:0, from /home/armon/Development/groovy_workspace/sandbox/smart_wheelchair/trunk/smart_wheelchair/state_machine_planner/src/ControllerNode.cpp:4: /home/armon/Development/groovy_workspace/sandbox/smart_wheelchair/trunk/smart_wheelchair/state_machine_planner/include/state_machine_planner/BasicControllerState.h:38:49: error: expected ')' before ' ' token make[3]: [CMakeFiles/state_machine_planner.dir/src/BasicControllerState.cpp.o] Error 1 make[3]: * Waiting for unfinished jobs.... In file included from /home/armon/Development/groovy_workspace/sandbox/smart_wheelchair/trunk/smart_wheelchair/state_machine_planner/include/state_machine_planner/StateMachinePlanner.h:16:0, from /home/armon/Development/groovy_workspace/sandbox/smart_wheelchair/trunk/smart_wheelchair/state_machine_planner/src/StateMachinePlanner.cpp:1: /home/armon/Development/groovy_workspace/sandbox/smart_wheelchair/trunk/smart_wheelchair/state_machine_planner/include/state_machine_planner/BasicControllerState.h:38:49: error: expected ')' before '*' token
/home/armon/Development/groovy_workspace/sandbox/smart_wheelchair/trunk/smart_wheelchair/state_machine_planner/src/StateMachinePlanner.cpp: In constructor 'state_machine_planner::StateMachinePlanner::StateMachinePlanner()':
/home/armon/Development/groovy_workspace/sandbox/smart_wheelchair/trunk/smart_wheelchair/state_machine_planner/src/StateMachinePlanner.cpp:9:30: error: no match for call to '(state_machine_planner::BasicControllerState) (costmap_2d::Costmap2DROS*&)'

BasicControllerState is a member of StateMachinePlanner

here is the code,

BasicControllerState.h (relevant piece):

class BasicControllerState {
                public:
                        BasicControllerState(){}
                        BasicControllerState(costmap_2d::costmap2DROS* costmap_ros);

BasicControllerState.cpp:

#include <state_machine_planner/BasicControllerState.h>

namespace state_machine_planner {
        BasicControllerState::BasicControllerState(costmap_2d::costmap2DROS* costmap_ros) {
                //init trajectory parameters specific to what state the child class     represents  

                //init sim_time_ and sim_granularity_
                //init sample space limits
                //init best_score_thresh_

                obstacle_dist_cost_gain_ = 0.1;
                heading_diff_cost_gain_ = 0.0;
                linear_vel_cost_gain_ = 0.0;
                omega_cost_gain_ = 0.0;

                num_of_linvel_samples_ = 20;
                num_of_angvel_smaples_ = 40;

                costmap_ros_ = costmap_ros;
                costmap_ros_->getCostmapCopy(costmap_);
                robot_footprint_ = costmap_ros_->getRobotFootprint();
                world_model_ = new base_local_planner::CostmapModel(costmap_);
        }

StateMachinePlanner.h:

class StateMachinePlanner
        {
                public:
                        StateMachinePlanner();
                        void init(int latency_command_queue_size, vel_params_struct vps, time_params_struct tps);
                        void setKey(key_command_t key);
                        geometry_msgs::Twist computeVelocityCommands();
                private:
                        std::deque<Eigen::Vector2f> latency_command_queue_;
                        int latency_command_queue_size_;
                        vel_params_struct velocity_parameters_;
                        time_params_struct time_parameters_;
                        navigation_state_t current_state_;
                        key_command_t key_command_;
                        tf::TransformListener* tf_;
                        costmap_2d::Costmap2DROS* costmap_ros_;
                        costmap_2d::Costmap2D costmap_;

                        BasicControllerState forward_state_;

StateMachinePlanner.cpp (where I instantiate it):

namespace state_machine_planner {

        StateMachinePlanner::StateMachinePlanner() : tf_(NULL), costmap_ros_(NULL) {
                tf_ = new tf::TransformListener(ros::Duration(10));
                costmap_ros_ = new costmap_2d::Costmap2DROS("costmap",*tf_);
                costmap_ros_->getCostmapCopy(costmap_);
                forward_state_(costmap_ros_);
        }

Forgive me, I know it may seem trivial, but I was hoping to find some c++ wizard to bail me out. Have spent far too long on this one problem.

Answer 1

costmap_2d::costmap2DROS* needs a forward declaration or you need to include the header file where it is defined. Because it is a pointer, a forward declarion is better. So before the class definition do this:

namespace costmap_2d{
  class costmap2DROS;
}