--- stderr: nav2_mppi_controller In file included from /usr/include/xsimd/xsimd.hpp:56, from /usr/include/xtensor/xtensor_config.hpp:75, from /usr/include/xtensor/xbuffer_adaptor.hpp:21, from /usr/include/xtensor/xtensor.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/xsimd/arch/xsimd_scalar.hpp: In function ‘std::pair xsimd::sincos(float)’: /usr/include/xsimd/arch/xsimd_scalar.hpp:1180:60: note: parameter passing for argument of type ‘std::pair’ when C++17 is enabled changed to match C++14 in GCC 10.1 1180 | XSIMD_INLINE std::pair sincos(float val) noexcept | ^~~~~~~~ /usr/include/xsimd/arch/xsimd_scalar.hpp: In function ‘std::pair xsimd::sincos(double)’: /usr/include/xsimd/arch/xsimd_scalar.hpp:1187:63: note: parameter passing for argument of type ‘std::pair’ when C++17 is enabled changed to match C++14 in GCC 10.1 1187 | XSIMD_INLINE std::pair sincos(double val) noexcept | ^~~~~~~~ In file included from /usr/include/xsimd/xsimd.hpp:56, from /usr/include/xtensor/xtensor_config.hpp:75, from /usr/include/xtensor/xbuffer_adaptor.hpp:21, from /usr/include/xtensor/xtensor.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /usr/include/xsimd/arch/xsimd_scalar.hpp: In function ‘std::pair xsimd::sincos(float)’: /usr/include/xsimd/arch/xsimd_scalar.hpp:1180:60: note: parameter passing for argument of type ‘std::pair’ when C++17 is enabled changed to match C++14 in GCC 10.1 1180 | XSIMD_INLINE std::pair sincos(float val) noexcept | ^~~~~~~~ /usr/include/xsimd/arch/xsimd_scalar.hpp: In function ‘std::pair xsimd::sincos(double)’: /usr/include/xsimd/arch/xsimd_scalar.hpp:1187:63: note: parameter passing for argument of type ‘std::pair’ when C++17 is enabled changed to match C++14 in GCC 10.1 1187 | XSIMD_INLINE std::pair sincos(double val) noexcept | ^~~~~~~~ In file included from /usr/include/xsimd/xsimd.hpp:56, from /usr/include/xtensor/xtensor_config.hpp:75, from /usr/include/xtensor/xbuffer_adaptor.hpp:21, from /usr/include/xtensor/xtensor.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /usr/include/xsimd/arch/xsimd_scalar.hpp: In function ‘std::pair xsimd::sincos(float)’: /usr/include/xsimd/arch/xsimd_scalar.hpp:1180:60: note: parameter passing for argument of type ‘std::pair’ when C++17 is enabled changed to match C++14 in GCC 10.1 1180 | XSIMD_INLINE std::pair sincos(float val) noexcept | ^~~~~~~~ /usr/include/xsimd/arch/xsimd_scalar.hpp: In function ‘std::pair xsimd::sincos(double)’: /usr/include/xsimd/arch/xsimd_scalar.hpp:1187:63: note: parameter passing for argument of type ‘std::pair’ when C++17 is enabled changed to match C++14 in GCC 10.1 1187 | XSIMD_INLINE std::pair sincos(double val) noexcept | ^~~~~~~~ In file included from /usr/include/xsimd/xsimd.hpp:56, from /usr/include/xtensor/xtensor_config.hpp:75, from /usr/include/xtensor/xbuffer_adaptor.hpp:21, from /usr/include/xtensor/xtensor.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /usr/include/xsimd/arch/xsimd_scalar.hpp: In function ‘std::pair xsimd::sincos(float)’: /usr/include/xsimd/arch/xsimd_scalar.hpp:1180:60: note: parameter passing for argument of type ‘std::pair’ when C++17 is enabled changed to match C++14 in GCC 10.1 1180 | XSIMD_INLINE std::pair sincos(float val) noexcept | ^~~~~~~~ /usr/include/xsimd/arch/xsimd_scalar.hpp: In function ‘std::pair xsimd::sincos(double)’: /usr/include/xsimd/arch/xsimd_scalar.hpp:1187:63: note: parameter passing for argument of type ‘std::pair’ when C++17 is enabled changed to match C++14 in GCC 10.1 1187 | XSIMD_INLINE std::pair sincos(double val) noexcept | ^~~~~~~~ In file included from /usr/include/xtensor/xstorage.hpp:23, from /usr/include/xtensor/xbuffer_adaptor.hpp:22, from /usr/include/xtensor/xtensor.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/xtensor/xtensor_simd.hpp: At global scope: /usr/include/xtensor/xtensor_simd.hpp:65:18: error: ‘set_simd’ has not been declared in ‘xsimd’ 65 | using xsimd::set_simd; | ^~~~~~~~ /usr/include/xtensor/xtensor_simd.hpp:66:18: error: ‘load_simd’ has not been declared in ‘xsimd’ 66 | using xsimd::load_simd; | ^~~~~~~~~ /usr/include/xtensor/xtensor_simd.hpp:67:18: error: ‘store_simd’ has not been declared in ‘xsimd’ 67 | using xsimd::store_simd; | ^~~~~~~~~~ In file included from /usr/include/xtensor/xbuffer_adaptor.hpp:21, from /usr/include/xtensor/xtensor.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/xtensor/xstorage.hpp:1389:59: error: ‘XSIMD_DEFAULT_ALIGNMENT’ was not declared in this scope; did you mean ‘XTENSOR_DEFAULT_ALIGNMENT’? 1389 | template | ^~~~~~~~~~~~~~~~~~~~ In file included from /usr/include/xtensor/xstorage.hpp:23, from /usr/include/xtensor/xbuffer_adaptor.hpp:22, from /usr/include/xtensor/xtensor.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /usr/include/xtensor/xtensor_simd.hpp: At global scope: /usr/include/xtensor/xtensor_simd.hpp:65:18: error: ‘set_simd’ has not been declared in ‘xsimd’ 65 | using xsimd::set_simd; | ^~~~~~~~ /usr/include/xtensor/xtensor_simd.hpp:66:18: error: ‘load_simd’ has not been declared in ‘xsimd’ 66 | using xsimd::load_simd; | ^~~~~~~~~ /usr/include/xtensor/xtensor_simd.hpp:67:18: error: ‘store_simd’ has not been declared in ‘xsimd’ 67 | using xsimd::store_simd; | ^~~~~~~~~~ /usr/include/xtensor/xstorage.hpp:1389:59: error: ‘XSIMD_DEFAULT_ALIGNMENT’ was not declared in this scope; did you mean ‘XTENSOR_DEFAULT_ALIGNMENT’? 1389 | template | ^~~~~~~~~~~~~~~~~~~~ In file included from /usr/include/xtensor/xbuffer_adaptor.hpp:22, from /usr/include/xtensor/xtensor.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/xtensor/xstorage.hpp:1605:49: error: template argument 3 is invalid 1605 | struct rebind_container> | ^ /usr/include/xtensor/xstorage.hpp:1605:50: error: template argument 2 is invalid 1605 | struct rebind_container> | ^~ In file included from /usr/include/xtensor/xbuffer_adaptor.hpp:21, from /usr/include/xtensor/xtensor.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /usr/include/xtensor/xstorage.hpp:1389:59: error: ‘XSIMD_DEFAULT_ALIGNMENT’ was not declared in this scope; did you mean ‘XTENSOR_DEFAULT_ALIGNMENT’? 1389 | template | ^~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xstorage.hpp:1389:59: error: ‘XSIMD_DEFAULT_ALIGNMENT’ was not declared in this scope; did you mean ‘XTENSOR_DEFAULT_ALIGNMENT’? 1389 | template | ^~~~~~~~~~~~~~~~~~~~ In file included from /usr/include/xtensor/xbuffer_adaptor.hpp:22, from /usr/include/xtensor/xtensor.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /usr/include/xtensor/xstorage.hpp:1605:49: error: template argument 3 is invalid 1605 | struct rebind_container> | ^ /usr/include/xtensor/xstorage.hpp:1605:50: error: template argument 2 is invalid 1605 | struct rebind_container> | ^~ In file included from /usr/include/xtensor/xstorage.hpp:23, from /usr/include/xtensor/xbuffer_adaptor.hpp:22, from /usr/include/xtensor/xtensor.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /usr/include/xtensor/xtensor_simd.hpp: At global scope: /usr/include/xtensor/xtensor_simd.hpp:65:18: error: ‘set_simd’ has not been declared in ‘xsimd’ 65 | using xsimd::set_simd; | ^~~~~~~~ /usr/include/xtensor/xtensor_simd.hpp:66:18: error: ‘load_simd’ has not been declared in ‘xsimd’ 66 | using xsimd::load_simd; | ^~~~~~~~~ /usr/include/xtensor/xtensor_simd.hpp:67:18: error: ‘store_simd’ has not been declared in ‘xsimd’ 67 | using xsimd::store_simd; | ^~~~~~~~~~ In file included from /usr/include/xtensor/xbuffer_adaptor.hpp:21, from /usr/include/xtensor/xtensor.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/xtensor/xtensor_forward.hpp:80:25: error: ‘XSIMD_DEFAULT_ALIGNMENT’ was not declared in this scope; did you mean ‘XTENSOR_DEFAULT_ALIGNMENT’? 80 | class A = XTENSOR_DEFAULT_ALLOCATOR(T), | ^~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xtensor_forward.hpp:80:25: error: template argument 2 is invalid 80 | class A = XTENSOR_DEFAULT_ALLOCATOR(T), | ^~~~~~~~~~~~~~~~~~~~~~~~~ In file included from /usr/include/xtensor/xbuffer_adaptor.hpp:21, from /usr/include/xtensor/xtensor.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /usr/include/xtensor/xtensor_forward.hpp:80:25: error: ‘XSIMD_DEFAULT_ALIGNMENT’ was not declared in this scope; did you mean ‘XTENSOR_DEFAULT_ALIGNMENT’? 80 | class A = XTENSOR_DEFAULT_ALLOCATOR(T), | ^~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xtensor_forward.hpp:80:25: error: template argument 2 is invalid 80 | class A = XTENSOR_DEFAULT_ALLOCATOR(T), | ^~~~~~~~~~~~~~~~~~~~~~~~~ In file included from /usr/include/xtensor/xbuffer_adaptor.hpp:21, from /usr/include/xtensor/xtensor.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /usr/include/xtensor/xstorage.hpp:1389:59: error: ‘XSIMD_DEFAULT_ALIGNMENT’ was not declared in this scope; did you mean ‘XTENSOR_DEFAULT_ALIGNMENT’? 1389 | template | ^~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xtensor_forward.hpp:104:25: error: ‘XSIMD_DEFAULT_ALIGNMENT’ was not declared in this scope; did you mean ‘XTENSOR_DEFAULT_ALIGNMENT’? 104 | class A = XTENSOR_DEFAULT_ALLOCATOR(T), | ^~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xtensor_forward.hpp:104:25: error: template argument 2 is invalid 104 | class A = XTENSOR_DEFAULT_ALLOCATOR(T), | ^~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xtensor_forward.hpp:104:25: error: ‘XSIMD_DEFAULT_ALIGNMENT’ was not declared in this scope; did you mean ‘XTENSOR_DEFAULT_ALIGNMENT’? 104 | class A = XTENSOR_DEFAULT_ALLOCATOR(T), | ^~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xtensor_forward.hpp:104:25: error: template argument 2 is invalid 104 | class A = XTENSOR_DEFAULT_ALLOCATOR(T), | ^~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xtensor_forward.hpp:135:25: error: ‘XSIMD_DEFAULT_ALIGNMENT’ was not declared in this scope; did you mean ‘XTENSOR_DEFAULT_ALIGNMENT’? 135 | class A = XTENSOR_DEFAULT_ALLOCATOR(T)> | ^~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xtensor_forward.hpp:135:25: error: template argument 2 is invalid 135 | class A = XTENSOR_DEFAULT_ALLOCATOR(T)> | ^~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xstorage.hpp:1389:59: error: ‘XSIMD_DEFAULT_ALIGNMENT’ was not declared in this scope; did you mean ‘XTENSOR_DEFAULT_ALIGNMENT’? 1389 | template | ^~~~~~~~~~~~~~~~~~~~ In file included from /usr/include/xtensor/xbuffer_adaptor.hpp:22, from /usr/include/xtensor/xtensor.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /usr/include/xtensor/xstorage.hpp:1605:49: error: template argument 3 is invalid 1605 | struct rebind_container> | ^ /usr/include/xtensor/xstorage.hpp:1605:50: error: template argument 2 is invalid 1605 | struct rebind_container> | ^~ /usr/include/xtensor/xtensor_forward.hpp:199:25: error: ‘XSIMD_DEFAULT_ALIGNMENT’ was not declared in this scope; did you mean ‘XTENSOR_DEFAULT_ALIGNMENT’? 199 | class A = XTENSOR_DEFAULT_ALLOCATOR(T), | ^~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xtensor_forward.hpp:199:25: error: template argument 2 is invalid 199 | class A = XTENSOR_DEFAULT_ALLOCATOR(T), | ^~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xtensor_forward.hpp:135:25: error: ‘XSIMD_DEFAULT_ALIGNMENT’ was not declared in this scope; did you mean ‘XTENSOR_DEFAULT_ALIGNMENT’? 135 | class A = XTENSOR_DEFAULT_ALLOCATOR(T)> | ^~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xtensor_forward.hpp:135:25: error: template argument 2 is invalid 135 | class A = XTENSOR_DEFAULT_ALLOCATOR(T)> | ^~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xtensor_forward.hpp:199:25: error: ‘XSIMD_DEFAULT_ALIGNMENT’ was not declared in this scope; did you mean ‘XTENSOR_DEFAULT_ALIGNMENT’? 199 | class A = XTENSOR_DEFAULT_ALLOCATOR(T), | ^~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xtensor_forward.hpp:199:25: error: template argument 2 is invalid 199 | class A = XTENSOR_DEFAULT_ALLOCATOR(T), | ^~~~~~~~~~~~~~~~~~~~~~~~~ In file included from /usr/include/xtensor/xbuffer_adaptor.hpp:21, from /usr/include/xtensor/xtensor.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /usr/include/xtensor/xtensor_forward.hpp:80:25: error: ‘XSIMD_DEFAULT_ALIGNMENT’ was not declared in this scope; did you mean ‘XTENSOR_DEFAULT_ALIGNMENT’? 80 | class A = XTENSOR_DEFAULT_ALLOCATOR(T), | ^~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xtensor_forward.hpp:80:25: error: template argument 2 is invalid 80 | class A = XTENSOR_DEFAULT_ALLOCATOR(T), | ^~~~~~~~~~~~~~~~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:26, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /usr/include/xtensor/xaccumulator.hpp:85:52: error: template argument 3 is invalid 85 | xarray::value_type> accumulator_impl(F&&, E&&, std::size_t, EVS) | ^ /usr/include/xtensor/xaccumulator.hpp:85:52: error: template argument 4 is invalid In file included from /usr/include/xtensor/xmath.hpp:26, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /usr/include/xtensor/xaccumulator.hpp:91:52: error: template argument 3 is invalid 91 | xarray::value_type> accumulator_impl(F&&, E&&, EVS) | ^ /usr/include/xtensor/xaccumulator.hpp:91:52: error: template argument 4 is invalid /usr/include/xtensor/xaccumulator.hpp:99:34: error: template argument 3 is invalid 99 | using type = xarray; | ^ /usr/include/xtensor/xaccumulator.hpp:99:34: error: template argument 4 is invalid /usr/include/xtensor/xaccumulator.hpp:103:52: error: template argument 3 is invalid 103 | struct xaccumulator_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:103:52: error: template argument 4 is invalid /usr/include/xtensor/xaccumulator.hpp:103:56: error: template argument 1 is invalid 103 | struct xaccumulator_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:109:56: error: template argument 4 is invalid 109 | struct xaccumulator_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:109:60: error: template argument 1 is invalid 109 | struct xaccumulator_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:129:38: error: template argument 4 is invalid 129 | using type = xtensor; | ^ /usr/include/xtensor/xaccumulator.hpp:133:59: error: template argument 3 is invalid 133 | struct xaccumulator_linear_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:133:59: error: template argument 4 is invalid /usr/include/xtensor/xaccumulator.hpp:133:63: error: template argument 1 is invalid 133 | struct xaccumulator_linear_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:139:63: error: template argument 4 is invalid 139 | struct xaccumulator_linear_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:139:67: error: template argument 1 is invalid 139 | struct xaccumulator_linear_return_type, R> | ^ In file included from /usr/include/xtensor/xeval.hpp:13, from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /usr/include/xtensor/xexpression_traits.hpp:103:37: error: template argument 3 is invalid 103 | using type = xarray; | ^ /usr/include/xtensor/xexpression_traits.hpp:103:37: error: template argument 4 is invalid /usr/include/xtensor/xexpression_traits.hpp:112:37: error: template argument 3 is invalid 112 | using type = xarray; | ^ /usr/include/xtensor/xexpression_traits.hpp:112:37: error: template argument 4 is invalid /usr/include/xtensor/xexpression_traits.hpp:121:41: error: template argument 4 is invalid 121 | using type = xtensor; | ^ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /usr/include/xtensor/xeval.hpp:96:104: error: template argument 3 is invalid 96 | using as_xarray_container_t = xarray::value_type, layout_remove_any(L)>; | ^ /usr/include/xtensor/xeval.hpp:96:104: error: template argument 4 is invalid /usr/include/xtensor/xeval.hpp:105:68: error: template argument 4 is invalid 105 | layout_remove_any(L)>; | ^ /usr/include/xtensor/xeval.hpp:142:37: error: ‘as_xtensor_container_t’ is not a member of ‘xt::detail’ 142 | detail::as_xtensor_container_t> | ^~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:142:63: error: wrong number of template arguments (3, should be at least 1) 142 | detail::as_xtensor_container_t> | ^ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/specfun.h:45, from /usr/include/c++/11.4.0/cmath:1935, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /usr/include/xtensor/xeval.hpp:142:37: error: ‘as_xtensor_container_t’ is not a member of ‘xt::detail’ 142 | detail::as_xtensor_container_t> | ^~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:142:64: error: wrong number of template arguments (3, should be at least 1) 142 | detail::as_xtensor_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/specfun.h:45, from /usr/include/c++/11.4.0/cmath:1935, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /usr/include/xtensor/xeval.hpp:142:37: error: ‘as_xtensor_container_t’ is not a member of ‘xt::detail’ 142 | detail::as_xtensor_container_t> | ^~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:142:64: error: wrong number of template arguments (3, should be at least 1) 142 | detail::as_xtensor_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/specfun.h:45, from /usr/include/c++/11.4.0/cmath:1935, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /usr/include/xtensor/xeval.hpp:142:37: error: ‘as_xtensor_container_t’ is not a member of ‘xt::detail’ 142 | detail::as_xtensor_container_t> | ^~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:142:64: error: wrong number of template arguments (3, should be at least 1) 142 | detail::as_xtensor_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/specfun.h:45, from /usr/include/c++/11.4.0/cmath:1935, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /usr/include/xtensor/xeval.hpp:142:37: error: ‘as_xtensor_container_t’ is not a member of ‘xt::detail’ 142 | detail::as_xtensor_container_t> | ^~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:142:64: error: wrong number of template arguments (3, should be at least 1) 142 | detail::as_xtensor_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/specfun.h:45, from /usr/include/c++/11.4.0/cmath:1935, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /usr/include/xtensor/xeval.hpp:142:37: error: ‘as_xtensor_container_t’ is not a member of ‘xt::detail’ 142 | detail::as_xtensor_container_t> | ^~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:142:64: error: wrong number of template arguments (3, should be at least 1) 142 | detail::as_xtensor_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/specfun.h:45, from /usr/include/c++/11.4.0/cmath:1935, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /usr/include/xtensor/xeval.hpp:139:12: error: invalid use of template-name ‘std::enable_if_t’ without an argument list 139 | -> std::enable_if_t<(!(has_data_interface>::value | ^~~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/specfun.h:45, from /usr/include/c++/11.4.0/cmath:1935, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: ‘template using enable_if_t = typename std::enable_if::type’ declared here 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /usr/include/xtensor/xeval.hpp:139:28: error: expected initializer before ‘<’ token 139 | -> std::enable_if_t<(!(has_data_interface>::value | ^ /usr/include/xtensor/xeval.hpp:153:37: error: ‘as_xarray_container_t’ is not a member of ‘xt::detail’ 153 | detail::as_xarray_container_t> | ^~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:153:62: error: wrong number of template arguments (3, should be at least 1) 153 | detail::as_xarray_container_t> | ^ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/specfun.h:45, from /usr/include/c++/11.4.0/cmath:1935, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /usr/include/xtensor/xeval.hpp:153:37: error: ‘as_xarray_container_t’ is not a member of ‘xt::detail’ 153 | detail::as_xarray_container_t> | ^~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:153:63: error: wrong number of template arguments (3, should be at least 1) 153 | detail::as_xarray_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/specfun.h:45, from /usr/include/c++/11.4.0/cmath:1935, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /usr/include/xtensor/xeval.hpp:153:37: error: ‘as_xarray_container_t’ is not a member of ‘xt::detail’ 153 | detail::as_xarray_container_t> | ^~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:153:63: error: wrong number of template arguments (3, should be at least 1) 153 | detail::as_xarray_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/specfun.h:45, from /usr/include/c++/11.4.0/cmath:1935, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /usr/include/xtensor/xeval.hpp:153:37: error: ‘as_xarray_container_t’ is not a member of ‘xt::detail’ 153 | detail::as_xarray_container_t> | ^~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:153:63: error: wrong number of template arguments (3, should be at least 1) 153 | detail::as_xarray_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/specfun.h:45, from /usr/include/c++/11.4.0/cmath:1935, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /usr/include/xtensor/xeval.hpp:153:37: error: ‘as_xarray_container_t’ is not a member of ‘xt::detail’ 153 | detail::as_xarray_container_t> | ^~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:153:63: error: wrong number of template arguments (3, should be at least 1) 153 | detail::as_xarray_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/specfun.h:45, from /usr/include/c++/11.4.0/cmath:1935, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /usr/include/xtensor/xeval.hpp:153:37: error: ‘as_xarray_container_t’ is not a member of ‘xt::detail’ 153 | detail::as_xarray_container_t> | ^~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:153:63: error: wrong number of template arguments (3, should be at least 1) 153 | detail::as_xarray_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/specfun.h:45, from /usr/include/c++/11.4.0/cmath:1935, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /usr/include/xtensor/xeval.hpp:150:12: error: invalid use of template-name ‘std::enable_if_t’ without an argument list 150 | -> std::enable_if_t<(!(has_data_interface>::value | ^~~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/specfun.h:45, from /usr/include/c++/11.4.0/cmath:1935, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: ‘template using enable_if_t = typename std::enable_if::type’ declared here 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /usr/include/xtensor/xeval.hpp:150:28: error: expected initializer before ‘<’ token 150 | -> std::enable_if_t<(!(has_data_interface>::value | ^ /usr/include/xtensor/xtensor_forward.hpp:104:25: error: ‘XSIMD_DEFAULT_ALIGNMENT’ was not declared in this scope; did you mean ‘XTENSOR_DEFAULT_ALIGNMENT’? 104 | class A = XTENSOR_DEFAULT_ALLOCATOR(T), | ^~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xtensor_forward.hpp:104:25: error: template argument 2 is invalid 104 | class A = XTENSOR_DEFAULT_ALLOCATOR(T), | ^~~~~~~~~~~~~~~~~~~~~~~~~ In file included from /usr/include/xtensor/xbroadcast.hpp:26, from /usr/include/xtensor/xbuilder.hpp:29, from /usr/include/xtensor/xmanipulation.hpp:13, from /usr/include/xtensor/xmath.hpp:28, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /usr/include/xtensor/xscalar.hpp: In member function ‘xt_simd::simd_return_type >::value_type, requested_type> xt::xscalar::load_simd(xt::xscalar::size_type) const’: /usr/include/xtensor/xscalar.hpp:964:25: error: ‘set_simd’ is not a member of ‘xt_simd’ 964 | return xt_simd::set_simd(m_value); | ^~~~~~~~ /usr/include/xtensor/xscalar.hpp:964:44: error: expected primary-expression before ‘,’ token 964 | return xt_simd::set_simd(m_value); | ^ /usr/include/xtensor/xscalar.hpp:964:60: error: expected primary-expression before ‘>’ token 964 | return xt_simd::set_simd(m_value); | ^ /usr/include/xtensor/xtensor_forward.hpp:135:25: error: ‘XSIMD_DEFAULT_ALIGNMENT’ was not declared in this scope; did you mean ‘XTENSOR_DEFAULT_ALIGNMENT’? 135 | class A = XTENSOR_DEFAULT_ALLOCATOR(T)> | ^~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xtensor_forward.hpp:135:25: error: template argument 2 is invalid 135 | class A = XTENSOR_DEFAULT_ALLOCATOR(T)> | ^~~~~~~~~~~~~~~~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:26, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/xtensor/xaccumulator.hpp:85:52: error: template argument 3 is invalid 85 | xarray::value_type> accumulator_impl(F&&, E&&, std::size_t, EVS) | ^ /usr/include/xtensor/xaccumulator.hpp:85:52: error: template argument 4 is invalid In file included from /usr/include/xtensor/xmath.hpp:26, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/xtensor/xaccumulator.hpp:91:52: error: template argument 3 is invalid 91 | xarray::value_type> accumulator_impl(F&&, E&&, EVS) | ^ /usr/include/xtensor/xaccumulator.hpp:91:52: error: template argument 4 is invalid /usr/include/xtensor/xaccumulator.hpp:99:34: error: template argument 3 is invalid 99 | using type = xarray; | ^ /usr/include/xtensor/xaccumulator.hpp:99:34: error: template argument 4 is invalid /usr/include/xtensor/xaccumulator.hpp:103:52: error: template argument 3 is invalid 103 | struct xaccumulator_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:103:52: error: template argument 4 is invalid /usr/include/xtensor/xaccumulator.hpp:103:56: error: template argument 1 is invalid 103 | struct xaccumulator_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:109:56: error: template argument 4 is invalid 109 | struct xaccumulator_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:109:60: error: template argument 1 is invalid 109 | struct xaccumulator_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:129:38: error: template argument 4 is invalid 129 | using type = xtensor; | ^ /usr/include/xtensor/xaccumulator.hpp:133:59: error: template argument 3 is invalid 133 | struct xaccumulator_linear_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:133:59: error: template argument 4 is invalid /usr/include/xtensor/xaccumulator.hpp:133:63: error: template argument 1 is invalid 133 | struct xaccumulator_linear_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:139:63: error: template argument 4 is invalid 139 | struct xaccumulator_linear_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:139:67: error: template argument 1 is invalid 139 | struct xaccumulator_linear_return_type, R> | ^ /usr/include/xtensor/xtensor_forward.hpp:199:25: error: ‘XSIMD_DEFAULT_ALIGNMENT’ was not declared in this scope; did you mean ‘XTENSOR_DEFAULT_ALIGNMENT’? 199 | class A = XTENSOR_DEFAULT_ALLOCATOR(T), | ^~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xtensor_forward.hpp:199:25: error: template argument 2 is invalid 199 | class A = XTENSOR_DEFAULT_ALLOCATOR(T), | ^~~~~~~~~~~~~~~~~~~~~~~~~ In file included from /usr/include/xtensor/xeval.hpp:13, from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/xtensor/xexpression_traits.hpp:103:37: error: template argument 3 is invalid 103 | using type = xarray; | ^ /usr/include/xtensor/xexpression_traits.hpp:103:37: error: template argument 4 is invalid /usr/include/xtensor/xexpression_traits.hpp:112:37: error: template argument 3 is invalid 112 | using type = xarray; | ^ /usr/include/xtensor/xexpression_traits.hpp:112:37: error: template argument 4 is invalid /usr/include/xtensor/xexpression_traits.hpp:121:41: error: template argument 4 is invalid 121 | using type = xtensor; | ^ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/xtensor/xeval.hpp:96:104: error: template argument 3 is invalid 96 | using as_xarray_container_t = xarray::value_type, layout_remove_any(L)>; | ^ /usr/include/xtensor/xeval.hpp:96:104: error: template argument 4 is invalid /usr/include/xtensor/xeval.hpp:105:68: error: template argument 4 is invalid 105 | layout_remove_any(L)>; | ^ /usr/include/xtensor/xeval.hpp:142:37: error: ‘as_xtensor_container_t’ is not a member of ‘xt::detail’ 142 | detail::as_xtensor_container_t> | ^~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:142:63: error: wrong number of template arguments (3, should be at least 1) 142 | detail::as_xtensor_container_t> | ^ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/char_traits.h:39, from /usr/include/c++/11.4.0/string:40, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/xtensor/xeval.hpp:142:37: error: ‘as_xtensor_container_t’ is not a member of ‘xt::detail’ 142 | detail::as_xtensor_container_t> | ^~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:142:64: error: wrong number of template arguments (3, should be at least 1) 142 | detail::as_xtensor_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/char_traits.h:39, from /usr/include/c++/11.4.0/string:40, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/xtensor/xeval.hpp:142:37: error: ‘as_xtensor_container_t’ is not a member of ‘xt::detail’ 142 | detail::as_xtensor_container_t> | ^~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:142:64: error: wrong number of template arguments (3, should be at least 1) 142 | detail::as_xtensor_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/char_traits.h:39, from /usr/include/c++/11.4.0/string:40, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/xtensor/xeval.hpp:142:37: error: ‘as_xtensor_container_t’ is not a member of ‘xt::detail’ 142 | detail::as_xtensor_container_t> | ^~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:142:64: error: wrong number of template arguments (3, should be at least 1) 142 | detail::as_xtensor_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/char_traits.h:39, from /usr/include/c++/11.4.0/string:40, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/xtensor/xeval.hpp:142:37: error: ‘as_xtensor_container_t’ is not a member of ‘xt::detail’ 142 | detail::as_xtensor_container_t> | ^~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:142:64: error: wrong number of template arguments (3, should be at least 1) 142 | detail::as_xtensor_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/char_traits.h:39, from /usr/include/c++/11.4.0/string:40, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/xtensor/xeval.hpp:142:37: error: ‘as_xtensor_container_t’ is not a member of ‘xt::detail’ 142 | detail::as_xtensor_container_t> | ^~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:142:64: error: wrong number of template arguments (3, should be at least 1) 142 | detail::as_xtensor_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/char_traits.h:39, from /usr/include/c++/11.4.0/string:40, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/xtensor/xeval.hpp:139:12: error: invalid use of template-name ‘std::enable_if_t’ without an argument list 139 | -> std::enable_if_t<(!(has_data_interface>::value | ^~~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/char_traits.h:39, from /usr/include/c++/11.4.0/string:40, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/c++/11.4.0/type_traits:2579:11: note: ‘template using enable_if_t = typename std::enable_if::type’ declared here 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/xtensor/xeval.hpp:139:28: error: expected initializer before ‘<’ token 139 | -> std::enable_if_t<(!(has_data_interface>::value | ^ /usr/include/xtensor/xeval.hpp:153:37: error: ‘as_xarray_container_t’ is not a member of ‘xt::detail’ 153 | detail::as_xarray_container_t> | ^~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:153:62: error: wrong number of template arguments (3, should be at least 1) 153 | detail::as_xarray_container_t> | ^ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/char_traits.h:39, from /usr/include/c++/11.4.0/string:40, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/xtensor/xeval.hpp:153:37: error: ‘as_xarray_container_t’ is not a member of ‘xt::detail’ 153 | detail::as_xarray_container_t> | ^~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:153:63: error: wrong number of template arguments (3, should be at least 1) 153 | detail::as_xarray_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/char_traits.h:39, from /usr/include/c++/11.4.0/string:40, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/xtensor/xeval.hpp:153:37: error: ‘as_xarray_container_t’ is not a member of ‘xt::detail’ 153 | detail::as_xarray_container_t> | ^~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:153:63: error: wrong number of template arguments (3, should be at least 1) 153 | detail::as_xarray_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/char_traits.h:39, from /usr/include/c++/11.4.0/string:40, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/xtensor/xeval.hpp:153:37: error: ‘as_xarray_container_t’ is not a member of ‘xt::detail’ 153 | detail::as_xarray_container_t> | ^~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:153:63: error: wrong number of template arguments (3, should be at least 1) 153 | detail::as_xarray_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/char_traits.h:39, from /usr/include/c++/11.4.0/string:40, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/xtensor/xeval.hpp:153:37: error: ‘as_xarray_container_t’ is not a member of ‘xt::detail’ 153 | detail::as_xarray_container_t> | ^~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:153:63: error: wrong number of template arguments (3, should be at least 1) 153 | detail::as_xarray_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/char_traits.h:39, from /usr/include/c++/11.4.0/string:40, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/xtensor/xeval.hpp:153:37: error: ‘as_xarray_container_t’ is not a member of ‘xt::detail’ 153 | detail::as_xarray_container_t> | ^~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:153:63: error: wrong number of template arguments (3, should be at least 1) 153 | detail::as_xarray_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/char_traits.h:39, from /usr/include/c++/11.4.0/string:40, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/xtensor/xeval.hpp:150:12: error: invalid use of template-name ‘std::enable_if_t’ without an argument list 150 | -> std::enable_if_t<(!(has_data_interface>::value | ^~~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/char_traits.h:39, from /usr/include/c++/11.4.0/string:40, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/c++/11.4.0/type_traits:2579:11: note: ‘template using enable_if_t = typename std::enable_if::type’ declared here 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/xtensor/xeval.hpp:150:28: error: expected initializer before ‘<’ token 150 | -> std::enable_if_t<(!(has_data_interface>::value | ^ In file included from /usr/include/xtensor/xbroadcast.hpp:26, from /usr/include/xtensor/xbuilder.hpp:29, from /usr/include/xtensor/xmanipulation.hpp:13, from /usr/include/xtensor/xmath.hpp:28, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/xtensor/xscalar.hpp: In member function ‘xt_simd::simd_return_type >::value_type, requested_type> xt::xscalar::load_simd(xt::xscalar::size_type) const’: /usr/include/xtensor/xscalar.hpp:964:25: error: ‘set_simd’ is not a member of ‘xt_simd’ 964 | return xt_simd::set_simd(m_value); | ^~~~~~~~ /usr/include/xtensor/xscalar.hpp:964:44: error: expected primary-expression before ‘,’ token 964 | return xt_simd::set_simd(m_value); | ^ /usr/include/xtensor/xscalar.hpp:964:60: error: expected primary-expression before ‘>’ token 964 | return xt_simd::set_simd(m_value); | ^ In file included from /usr/include/xtensor/xmath.hpp:26, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /usr/include/xtensor/xaccumulator.hpp:85:52: error: template argument 3 is invalid 85 | xarray::value_type> accumulator_impl(F&&, E&&, std::size_t, EVS) | ^ /usr/include/xtensor/xaccumulator.hpp:85:52: error: template argument 4 is invalid In file included from /usr/include/xtensor/xmath.hpp:26, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /usr/include/xtensor/xaccumulator.hpp:91:52: error: template argument 3 is invalid 91 | xarray::value_type> accumulator_impl(F&&, E&&, EVS) | ^ /usr/include/xtensor/xaccumulator.hpp:91:52: error: template argument 4 is invalid /usr/include/xtensor/xaccumulator.hpp:99:34: error: template argument 3 is invalid 99 | using type = xarray; | ^ /usr/include/xtensor/xaccumulator.hpp:99:34: error: template argument 4 is invalid /usr/include/xtensor/xaccumulator.hpp:103:52: error: template argument 3 is invalid 103 | struct xaccumulator_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:103:52: error: template argument 4 is invalid /usr/include/xtensor/xaccumulator.hpp:103:56: error: template argument 1 is invalid 103 | struct xaccumulator_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:109:56: error: template argument 4 is invalid 109 | struct xaccumulator_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:109:60: error: template argument 1 is invalid 109 | struct xaccumulator_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:129:38: error: template argument 4 is invalid 129 | using type = xtensor; | ^ /usr/include/xtensor/xaccumulator.hpp:133:59: error: template argument 3 is invalid 133 | struct xaccumulator_linear_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:133:59: error: template argument 4 is invalid /usr/include/xtensor/xaccumulator.hpp:133:63: error: template argument 1 is invalid 133 | struct xaccumulator_linear_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:139:63: error: template argument 4 is invalid 139 | struct xaccumulator_linear_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:139:67: error: template argument 1 is invalid 139 | struct xaccumulator_linear_return_type, R> | ^ In file included from /usr/include/xtensor/xeval.hpp:13, from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /usr/include/xtensor/xexpression_traits.hpp:103:37: error: template argument 3 is invalid 103 | using type = xarray; | ^ /usr/include/xtensor/xexpression_traits.hpp:103:37: error: template argument 4 is invalid /usr/include/xtensor/xexpression_traits.hpp:112:37: error: template argument 3 is invalid 112 | using type = xarray; | ^ /usr/include/xtensor/xexpression_traits.hpp:112:37: error: template argument 4 is invalid /usr/include/xtensor/xexpression_traits.hpp:121:41: error: template argument 4 is invalid 121 | using type = xtensor; | ^ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /usr/include/xtensor/xeval.hpp:96:104: error: template argument 3 is invalid 96 | using as_xarray_container_t = xarray::value_type, layout_remove_any(L)>; | ^ /usr/include/xtensor/xeval.hpp:96:104: error: template argument 4 is invalid /usr/include/xtensor/xeval.hpp:105:68: error: template argument 4 is invalid 105 | layout_remove_any(L)>; | ^ /usr/include/xtensor/xeval.hpp:142:37: error: ‘as_xtensor_container_t’ is not a member of ‘xt::detail’ 142 | detail::as_xtensor_container_t> | ^~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:142:63: error: wrong number of template arguments (3, should be at least 1) 142 | detail::as_xtensor_container_t> | ^ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/specfun.h:45, from /usr/include/c++/11.4.0/cmath:1935, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:16: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /usr/include/xtensor/xeval.hpp:142:37: error: ‘as_xtensor_container_t’ is not a member of ‘xt::detail’ 142 | detail::as_xtensor_container_t> | ^~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:142:64: error: wrong number of template arguments (3, should be at least 1) 142 | detail::as_xtensor_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/specfun.h:45, from /usr/include/c++/11.4.0/cmath:1935, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:16: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /usr/include/xtensor/xeval.hpp:142:37: error: ‘as_xtensor_container_t’ is not a member of ‘xt::detail’ 142 | detail::as_xtensor_container_t> | ^~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:142:64: error: wrong number of template arguments (3, should be at least 1) 142 | detail::as_xtensor_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/specfun.h:45, from /usr/include/c++/11.4.0/cmath:1935, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:16: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /usr/include/xtensor/xeval.hpp:142:37: error: ‘as_xtensor_container_t’ is not a member of ‘xt::detail’ 142 | detail::as_xtensor_container_t> | ^~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:142:64: error: wrong number of template arguments (3, should be at least 1) 142 | detail::as_xtensor_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/specfun.h:45, from /usr/include/c++/11.4.0/cmath:1935, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:16: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /usr/include/xtensor/xeval.hpp:142:37: error: ‘as_xtensor_container_t’ is not a member of ‘xt::detail’ 142 | detail::as_xtensor_container_t> | ^~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:142:64: error: wrong number of template arguments (3, should be at least 1) 142 | detail::as_xtensor_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/specfun.h:45, from /usr/include/c++/11.4.0/cmath:1935, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:16: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /usr/include/xtensor/xeval.hpp:142:37: error: ‘as_xtensor_container_t’ is not a member of ‘xt::detail’ 142 | detail::as_xtensor_container_t> | ^~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:142:64: error: wrong number of template arguments (3, should be at least 1) 142 | detail::as_xtensor_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/specfun.h:45, from /usr/include/c++/11.4.0/cmath:1935, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:16: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /usr/include/xtensor/xeval.hpp:139:12: error: invalid use of template-name ‘std::enable_if_t’ without an argument list 139 | -> std::enable_if_t<(!(has_data_interface>::value | ^~~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/specfun.h:45, from /usr/include/c++/11.4.0/cmath:1935, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:16: /usr/include/c++/11.4.0/type_traits:2579:11: note: ‘template using enable_if_t = typename std::enable_if::type’ declared here 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /usr/include/xtensor/xeval.hpp:139:28: error: expected initializer before ‘<’ token 139 | -> std::enable_if_t<(!(has_data_interface>::value | ^ /usr/include/xtensor/xeval.hpp:153:37: error: ‘as_xarray_container_t’ is not a member of ‘xt::detail’ 153 | detail::as_xarray_container_t> | ^~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:153:62: error: wrong number of template arguments (3, should be at least 1) 153 | detail::as_xarray_container_t> | ^ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/specfun.h:45, from /usr/include/c++/11.4.0/cmath:1935, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:16: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /usr/include/xtensor/xeval.hpp:153:37: error: ‘as_xarray_container_t’ is not a member of ‘xt::detail’ 153 | detail::as_xarray_container_t> | ^~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:153:63: error: wrong number of template arguments (3, should be at least 1) 153 | detail::as_xarray_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/specfun.h:45, from /usr/include/c++/11.4.0/cmath:1935, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:16: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /usr/include/xtensor/xeval.hpp:153:37: error: ‘as_xarray_container_t’ is not a member of ‘xt::detail’ 153 | detail::as_xarray_container_t> | ^~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:153:63: error: wrong number of template arguments (3, should be at least 1) 153 | detail::as_xarray_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/specfun.h:45, from /usr/include/c++/11.4.0/cmath:1935, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:16: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /usr/include/xtensor/xeval.hpp:153:37: error: ‘as_xarray_container_t’ is not a member of ‘xt::detail’ 153 | detail::as_xarray_container_t> | ^~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:153:63: error: wrong number of template arguments (3, should be at least 1) 153 | detail::as_xarray_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/specfun.h:45, from /usr/include/c++/11.4.0/cmath:1935, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:16: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /usr/include/xtensor/xeval.hpp:153:37: error: ‘as_xarray_container_t’ is not a member of ‘xt::detail’ 153 | detail::as_xarray_container_t> | ^~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:153:63: error: wrong number of template arguments (3, should be at least 1) 153 | detail::as_xarray_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/specfun.h:45, from /usr/include/c++/11.4.0/cmath:1935, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:16: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /usr/include/xtensor/xeval.hpp:153:37: error: ‘as_xarray_container_t’ is not a member of ‘xt::detail’ 153 | detail::as_xarray_container_t> | ^~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:153:63: error: wrong number of template arguments (3, should be at least 1) 153 | detail::as_xarray_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/specfun.h:45, from /usr/include/c++/11.4.0/cmath:1935, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:16: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /usr/include/xtensor/xeval.hpp:150:12: error: invalid use of template-name ‘std::enable_if_t’ without an argument list 150 | -> std::enable_if_t<(!(has_data_interface>::value | ^~~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/specfun.h:45, from /usr/include/c++/11.4.0/cmath:1935, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:16: /usr/include/c++/11.4.0/type_traits:2579:11: note: ‘template using enable_if_t = typename std::enable_if::type’ declared here 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /usr/include/xtensor/xeval.hpp:150:28: error: expected initializer before ‘<’ token 150 | -> std::enable_if_t<(!(has_data_interface>::value | ^ In file included from /usr/include/xtensor/xgenerator.hpp:27, from /usr/include/xtensor/xbuilder.hpp:31, from /usr/include/xtensor/xmanipulation.hpp:13, from /usr/include/xtensor/xmath.hpp:28, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /usr/include/xtensor/xstrided_view.hpp: In member function ‘xt::xstrided_view::enable_simd_interface xt::xstrided_view::store_simd(xt::xstrided_view::size_type, const simd&)’: /usr/include/xtensor/xstrided_view.hpp:619:18: error: ‘store_simd’ is not a member of ‘xt_simd’ 619 | xt_simd::store_simd(&(storage()[i]), e, align_mode()); | ^~~~~~~~~~ /usr/include/xtensor/xstrided_view.hpp:619:39: error: expected primary-expression before ‘,’ token 619 | xt_simd::store_simd(&(storage()[i]), e, align_mode()); | ^ /usr/include/xtensor/xstrided_view.hpp:619:66: error: expected ‘(’ before ‘>’ token 619 | xt_simd::store_simd(&(storage()[i]), e, align_mode()); | ^ | ( /usr/include/xtensor/xstrided_view.hpp: In member function ‘xt::xstrided_view::enable_simd_interface >::value_type, requested_type, xsimd::neon64>::type> xt::xstrided_view::load_simd(xt::xstrided_view::size_type) const’: /usr/include/xtensor/xstrided_view.hpp:628:25: error: ‘load_simd’ is not a member of ‘xt_simd’ 628 | return xt_simd::load_simd(&(storage()[i]), align_mode()); | ^~~~~~~~~ /usr/include/xtensor/xstrided_view.hpp:628:45: error: expected primary-expression before ‘,’ token 628 | return xt_simd::load_simd(&(storage()[i]), align_mode()); | ^ /usr/include/xtensor/xstrided_view.hpp:628:61: error: expected primary-expression before ‘>’ token 628 | return xt_simd::load_simd(&(storage()[i]), align_mode()); | ^ In file included from /usr/include/xtensor/xbroadcast.hpp:26, from /usr/include/xtensor/xbuilder.hpp:29, from /usr/include/xtensor/xmanipulation.hpp:13, from /usr/include/xtensor/xmath.hpp:28, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /usr/include/xtensor/xscalar.hpp: In member function ‘xt_simd::simd_return_type >::value_type, requested_type> xt::xscalar::load_simd(xt::xscalar::size_type) const’: /usr/include/xtensor/xscalar.hpp:964:25: error: ‘set_simd’ is not a member of ‘xt_simd’ 964 | return xt_simd::set_simd(m_value); | ^~~~~~~~ /usr/include/xtensor/xscalar.hpp:964:44: error: expected primary-expression before ‘,’ token 964 | return xt_simd::set_simd(m_value); | ^ /usr/include/xtensor/xscalar.hpp:964:60: error: expected primary-expression before ‘>’ token 964 | return xt_simd::set_simd(m_value); | ^ In file included from /usr/include/xtensor/xmanipulation.hpp:13, from /usr/include/xtensor/xmath.hpp:28, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /usr/include/xtensor/xbuilder.hpp: At global scope: /usr/include/xtensor/xbuilder.hpp:89:23: error: template argument 3 is invalid 89 | inline xarray empty(const S& shape) | ^ /usr/include/xtensor/xbuilder.hpp:89:23: error: template argument 4 is invalid /usr/include/xtensor/xbuilder.hpp: In function ‘int xt::empty(const S&)’: /usr/include/xtensor/xbuilder.hpp:91:27: error: template argument 3 is invalid 91 | return xarray::from_shape(shape); | ^ /usr/include/xtensor/xbuilder.hpp:91:27: error: template argument 4 is invalid /usr/include/xtensor/xbuilder.hpp: At global scope: /usr/include/xtensor/xbuilder.hpp:95:27: error: template argument 4 is invalid 95 | inline xtensor empty(const std::array& shape) | ^ /usr/include/xtensor/xbuilder.hpp: In function ‘int xt::empty(const std::array&)’: /usr/include/xtensor/xbuilder.hpp:97:49: error: template argument 4 is invalid 97 | using shape_type = typename xtensor::shape_type; | ^ /usr/include/xtensor/xbuilder.hpp:98:31: error: template argument 4 is invalid 98 | return xtensor(xtl::forward_sequence(shape)); | ^ /usr/include/xtensor/xbuilder.hpp:98:55: error: ‘shape_type’ was not declared in this scope 98 | return xtensor(xtl::forward_sequence(shape)); | ^~~~~~~~~~ /usr/include/xtensor/xbuilder.hpp: At global scope: /usr/include/xtensor/xbuilder.hpp:102:27: error: template argument 4 is invalid 102 | inline xtensor empty(const I(&shape)[N]) | ^ /usr/include/xtensor/xbuilder.hpp: In function ‘int xt::empty(const I (&)[N])’: /usr/include/xtensor/xbuilder.hpp:104:49: error: template argument 4 is invalid 104 | using shape_type = typename xtensor::shape_type; | ^ /usr/include/xtensor/xbuilder.hpp:105:31: error: template argument 4 is invalid 105 | return xtensor(xtl::forward_sequence(shape)); | ^ /usr/include/xtensor/xbuilder.hpp:105:55: error: ‘shape_type’ was not declared in this scope 105 | return xtensor(xtl::forward_sequence(shape)); | ^~~~~~~~~~ In file included from /usr/include/xtensor/xgenerator.hpp:27, from /usr/include/xtensor/xbuilder.hpp:31, from /usr/include/xtensor/xmanipulation.hpp:13, from /usr/include/xtensor/xmath.hpp:28, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/xtensor/xstrided_view.hpp: In member function ‘xt::xstrided_view::enable_simd_interface xt::xstrided_view::store_simd(xt::xstrided_view::size_type, const simd&)’: /usr/include/xtensor/xstrided_view.hpp:619:18: error: ‘store_simd’ is not a member of ‘xt_simd’ 619 | xt_simd::store_simd(&(storage()[i]), e, align_mode()); | ^~~~~~~~~~ /usr/include/xtensor/xstrided_view.hpp:619:39: error: expected primary-expression before ‘,’ token 619 | xt_simd::store_simd(&(storage()[i]), e, align_mode()); | ^ /usr/include/xtensor/xstrided_view.hpp:619:66: error: expected ‘(’ before ‘>’ token 619 | xt_simd::store_simd(&(storage()[i]), e, align_mode()); | ^ | ( /usr/include/xtensor/xstrided_view.hpp: In member function ‘xt::xstrided_view::enable_simd_interface >::value_type, requested_type, xsimd::neon64>::type> xt::xstrided_view::load_simd(xt::xstrided_view::size_type) const’: /usr/include/xtensor/xstrided_view.hpp:628:25: error: ‘load_simd’ is not a member of ‘xt_simd’ 628 | return xt_simd::load_simd(&(storage()[i]), align_mode()); | ^~~~~~~~~ /usr/include/xtensor/xstrided_view.hpp:628:45: error: expected primary-expression before ‘,’ token 628 | return xt_simd::load_simd(&(storage()[i]), align_mode()); | ^ /usr/include/xtensor/xstrided_view.hpp:628:61: error: expected primary-expression before ‘>’ token 628 | return xt_simd::load_simd(&(storage()[i]), align_mode()); | ^ In file included from /usr/include/xtensor/xmanipulation.hpp:13, from /usr/include/xtensor/xmath.hpp:28, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/xtensor/xbuilder.hpp: At global scope: /usr/include/xtensor/xbuilder.hpp:89:23: error: template argument 3 is invalid 89 | inline xarray empty(const S& shape) | ^ /usr/include/xtensor/xbuilder.hpp:89:23: error: template argument 4 is invalid /usr/include/xtensor/xbuilder.hpp: In function ‘int xt::empty(const S&)’: /usr/include/xtensor/xbuilder.hpp:91:27: error: template argument 3 is invalid 91 | return xarray::from_shape(shape); | ^ /usr/include/xtensor/xbuilder.hpp:91:27: error: template argument 4 is invalid /usr/include/xtensor/xbuilder.hpp: At global scope: /usr/include/xtensor/xbuilder.hpp:95:27: error: template argument 4 is invalid 95 | inline xtensor empty(const std::array& shape) | ^ /usr/include/xtensor/xbuilder.hpp: In function ‘int xt::empty(const std::array&)’: /usr/include/xtensor/xbuilder.hpp:97:49: error: template argument 4 is invalid 97 | using shape_type = typename xtensor::shape_type; | ^ /usr/include/xtensor/xbuilder.hpp:98:31: error: template argument 4 is invalid 98 | return xtensor(xtl::forward_sequence(shape)); | ^ In file included from /usr/include/xtensor/xstorage.hpp:23, from /usr/include/xtensor/xbuffer_adaptor.hpp:22, from /usr/include/xtensor/xtensor.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /usr/include/xtensor/xtensor_simd.hpp: At global scope: /usr/include/xtensor/xtensor_simd.hpp:65:18: error: ‘set_simd’ has not been declared in ‘xsimd’ 65 | using xsimd::set_simd; | ^~~~~~~~ /usr/include/xtensor/xtensor_simd.hpp:66:18: error: ‘load_simd’ has not been declared in ‘xsimd’ 66 | using xsimd::load_simd; | ^~~~~~~~~ /usr/include/xtensor/xtensor_simd.hpp:67:18: error: ‘store_simd’ has not been declared in ‘xsimd’ 67 | using xsimd::store_simd; | ^~~~~~~~~~ /usr/include/xtensor/xbuilder.hpp:98:55: error: ‘shape_type’ was not declared in this scope 98 | return xtensor(xtl::forward_sequence(shape)); | ^~~~~~~~~~ /usr/include/xtensor/xbuilder.hpp: At global scope: /usr/include/xtensor/xbuilder.hpp:102:27: error: template argument 4 is invalid 102 | inline xtensor empty(const I(&shape)[N]) | ^ /usr/include/xtensor/xbuilder.hpp: In function ‘int xt::empty(const I (&)[N])’: /usr/include/xtensor/xbuilder.hpp:104:49: error: template argument 4 is invalid 104 | using shape_type = typename xtensor::shape_type; | ^ /usr/include/xtensor/xbuilder.hpp:105:31: error: template argument 4 is invalid 105 | return xtensor(xtl::forward_sequence(shape)); | ^ In file included from /usr/include/xtensor/xgenerator.hpp:27, from /usr/include/xtensor/xbuilder.hpp:31, from /usr/include/xtensor/xmanipulation.hpp:13, from /usr/include/xtensor/xmath.hpp:28, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /usr/include/xtensor/xstrided_view.hpp: In member function ‘xt::xstrided_view::enable_simd_interface xt::xstrided_view::store_simd(xt::xstrided_view::size_type, const simd&)’: /usr/include/xtensor/xstrided_view.hpp:619:18: error: ‘store_simd’ is not a member of ‘xt_simd’ 619 | xt_simd::store_simd(&(storage()[i]), e, align_mode()); | ^~~~~~~~~~ /usr/include/xtensor/xstrided_view.hpp:619:39: error: expected primary-expression before ‘,’ token 619 | xt_simd::store_simd(&(storage()[i]), e, align_mode()); | ^ /usr/include/xtensor/xstrided_view.hpp:619:66: error: expected ‘(’ before ‘>’ token 619 | xt_simd::store_simd(&(storage()[i]), e, align_mode()); | ^ | ( /usr/include/xtensor/xstrided_view.hpp: In member function ‘xt::xstrided_view::enable_simd_interface >::value_type, requested_type, xsimd::neon64>::type> xt::xstrided_view::load_simd(xt::xstrided_view::size_type) const’: /usr/include/xtensor/xstrided_view.hpp:628:25: error: ‘load_simd’ is not a member of ‘xt_simd’ 628 | return xt_simd::load_simd(&(storage()[i]), align_mode()); | ^~~~~~~~~ /usr/include/xtensor/xstrided_view.hpp:628:45: error: expected primary-expression before ‘,’ token 628 | return xt_simd::load_simd(&(storage()[i]), align_mode()); | ^ /usr/include/xtensor/xstrided_view.hpp:628:61: error: expected primary-expression before ‘>’ token 628 | return xt_simd::load_simd(&(storage()[i]), align_mode()); | ^ In file included from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /usr/include/xtensor/xmath.hpp: In function ‘auto xt::interp(const E1&, const E2&, const E3&, T, T)’: /usr/include/xtensor/xmath.hpp:2895:39: error: template argument 4 is invalid 2895 | auto f = xtensor::from_shape(x.shape()); | ^ /usr/include/xtensor/xbuilder.hpp:105:55: error: ‘shape_type’ was not declared in this scope 105 | return xtensor(xtl::forward_sequence(shape)); | ^~~~~~~~~~ In file included from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /usr/include/xtensor/xcontainer.hpp: In member function ‘void xt::xcontainer::store_simd(xt::xcontainer::size_type, const simd&)’: /usr/include/xtensor/xcontainer.hpp:728:18: error: ‘store_simd’ is not a member of ‘xt_simd’ 728 | xt_simd::store_simd(std::addressof(storage()[i]), e, align_mode()); | ^~~~~~~~~~ /usr/include/xtensor/xcontainer.hpp:728:39: error: expected primary-expression before ‘,’ token 728 | xt_simd::store_simd(std::addressof(storage()[i]), e, align_mode()); | ^ /usr/include/xtensor/xcontainer.hpp:728:66: error: expected ‘(’ before ‘>’ token 728 | xt_simd::store_simd(std::addressof(storage()[i]), e, align_mode()); | ^ | ( /usr/include/xtensor/xcontainer.hpp: In member function ‘xt::container_simd_return_type_t::storage_type, typename xt::xcontainer_inner_types::storage_type::value_type, requested_type> xt::xcontainer::load_simd(xt::xcontainer::size_type) const’: /usr/include/xtensor/xcontainer.hpp:738:25: error: ‘load_simd’ is not a member of ‘xt_simd’ 738 | return xt_simd::load_simd(std::addressof(storage()[i]), align_mode()); | ^~~~~~~~~ /usr/include/xtensor/xcontainer.hpp:738:45: error: expected primary-expression before ‘,’ token 738 | return xt_simd::load_simd(std::addressof(storage()[i]), align_mode()); | ^ /usr/include/xtensor/xcontainer.hpp:738:61: error: expected primary-expression before ‘>’ token 738 | return xt_simd::load_simd(std::addressof(storage()[i]), align_mode()); | ^ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /usr/include/xtensor/xtensor.hpp: In function ‘auto xt::from_indices(const std::vector&)’: /usr/include/xtensor/xtensor.hpp:814:62: error: template argument 4 is invalid 814 | using return_type = xtensor; | ^ /usr/include/xtensor/xtensor.hpp:815:36: error: ‘return_type’ has not been declared 815 | using size_type = typename return_type::size_type; | ^~~~~~~~~~~ /usr/include/xtensor/xtensor.hpp:819:20: error: ‘return_type’ has not been declared 819 | return return_type::from_shape({size_type(0), size_type(0)}); | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmanipulation.hpp:13, from /usr/include/xtensor/xmath.hpp:28, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /usr/include/xtensor/xbuilder.hpp: At global scope: /usr/include/xtensor/xbuilder.hpp:89:23: error: template argument 3 is invalid 89 | inline xarray empty(const S& shape) | ^ /usr/include/xtensor/xbuilder.hpp:89:23: error: template argument 4 is invalid /usr/include/xtensor/xbuilder.hpp: In function ‘int xt::empty(const S&)’: /usr/include/xtensor/xbuilder.hpp:91:27: error: template argument 3 is invalid 91 | return xarray::from_shape(shape); | ^ /usr/include/xtensor/xbuilder.hpp:91:27: error: template argument 4 is invalid /usr/include/xtensor/xbuilder.hpp: At global scope: /usr/include/xtensor/xbuilder.hpp:95:27: error: template argument 4 is invalid 95 | inline xtensor empty(const std::array& shape) | ^ /usr/include/xtensor/xbuilder.hpp: In function ‘int xt::empty(const std::array&)’: /usr/include/xtensor/xbuilder.hpp:97:49: error: template argument 4 is invalid 97 | using shape_type = typename xtensor::shape_type; | ^ /usr/include/xtensor/xbuilder.hpp:98:31: error: template argument 4 is invalid 98 | return xtensor(xtl::forward_sequence(shape)); | ^ In file included from /usr/include/xtensor/xbuffer_adaptor.hpp:21, from /usr/include/xtensor/xtensor.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /usr/include/xtensor/xstorage.hpp:1389:59: error: ‘XSIMD_DEFAULT_ALIGNMENT’ was not declared in this scope; did you mean ‘XTENSOR_DEFAULT_ALIGNMENT’? 1389 | template | ^~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xtensor.hpp:819:45: error: there are no arguments to ‘size_type’ that depend on a template parameter, so a declaration of ‘size_type’ must be available [-fpermissive] 819 | return return_type::from_shape({size_type(0), size_type(0)}); | ^~~~~~~~~ /usr/include/xtensor/xtensor.hpp:819:45: note: (if you use ‘-fpermissive’, G++ will accept your code, but allowing the use of an undeclared name is deprecated) /usr/include/xtensor/xtensor.hpp:819:59: error: there are no arguments to ‘size_type’ that depend on a template parameter, so a declaration of ‘size_type’ must be available [-fpermissive] 819 | return return_type::from_shape({size_type(0), size_type(0)}); | ^~~~~~~~~ /usr/include/xtensor/xtensor.hpp:822:9: error: ‘return_type’ was not declared in this scope 822 | return_type out = return_type::from_shape({idx.size(), idx[0].size()}); | ^~~~~~~~~~~ /usr/include/xtensor/xtensor.hpp:822:78: error: expected primary-expression before ‘)’ token 822 | return_type out = return_type::from_shape({idx.size(), idx[0].size()}); | ^ /usr/include/xtensor/xbuilder.hpp:98:55: error: ‘shape_type’ was not declared in this scope 98 | return xtensor(xtl::forward_sequence(shape)); | ^~~~~~~~~~ /usr/include/xtensor/xbuilder.hpp: At global scope: /usr/include/xtensor/xbuilder.hpp:102:27: error: template argument 4 is invalid 102 | inline xtensor empty(const I(&shape)[N]) | ^ /usr/include/xtensor/xbuilder.hpp: In function ‘int xt::empty(const I (&)[N])’: /usr/include/xtensor/xbuilder.hpp:104:49: error: template argument 4 is invalid 104 | using shape_type = typename xtensor::shape_type; | ^ /usr/include/xtensor/xbuilder.hpp:105:31: error: template argument 4 is invalid 105 | return xtensor(xtl::forward_sequence(shape)); | ^ /usr/include/xtensor/xtensor.hpp:824:14: error: ‘size_type’ was not declared in this scope; did you mean ‘size_t’? 824 | for (size_type i = 0; i < out.shape()[0]; ++i) | ^~~~~~~~~ | size_t /usr/include/xtensor/xtensor.hpp:824:31: error: ‘i’ was not declared in this scope 824 | for (size_type i = 0; i < out.shape()[0]; ++i) | ^ /usr/include/xtensor/xstorage.hpp:1389:59: error: ‘XSIMD_DEFAULT_ALIGNMENT’ was not declared in this scope; did you mean ‘XTENSOR_DEFAULT_ALIGNMENT’? 1389 | template | ^~~~~~~~~~~~~~~~~~~~ In file included from /usr/include/xtensor/xbuffer_adaptor.hpp:22, from /usr/include/xtensor/xtensor.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /usr/include/xtensor/xstorage.hpp:1605:49: error: template argument 3 is invalid 1605 | struct rebind_container> | ^ /usr/include/xtensor/xstorage.hpp:1605:50: error: template argument 2 is invalid 1605 | struct rebind_container> | ^~ /usr/include/xtensor/xtensor.hpp:824:35: error: ‘out’ was not declared in this scope 824 | for (size_type i = 0; i < out.shape()[0]; ++i) | ^~~ /usr/include/xtensor/xtensor.hpp:826:27: error: expected ‘;’ before ‘j’ 826 | for (size_type j = 0; j < out.shape()[1]; ++j) | ^~ | ; /usr/include/xtensor/xbuilder.hpp:105:55: error: ‘shape_type’ was not declared in this scope 105 | return xtensor(xtl::forward_sequence(shape)); | ^~~~~~~~~~ /usr/include/xtensor/xtensor.hpp:826:35: error: ‘j’ was not declared in this scope 826 | for (size_type j = 0; j < out.shape()[1]; ++j) | ^ /usr/include/xtensor/xtensor.hpp:832:16: error: ‘out’ was not declared in this scope 832 | return out; | ^~~ /usr/include/xtensor/xtensor.hpp: In function ‘auto xt::flatten_indices(const std::vector&)’: /usr/include/xtensor/xtensor.hpp:852:62: error: template argument 4 is invalid 852 | using return_type = xtensor; | ^ In file included from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/xtensor/xmath.hpp: In function ‘auto xt::interp(const E1&, const E2&, const E3&, T, T)’: /usr/include/xtensor/xmath.hpp:2895:39: error: template argument 4 is invalid 2895 | auto f = xtensor::from_shape(x.shape()); | ^ /usr/include/xtensor/xtensor.hpp:853:9: error: ‘return_type’ was not declared in this scope 853 | return_type out = return_type::from_shape({n}); | ^~~~~~~~~~~ /usr/include/xtensor/xtensor.hpp:853:54: error: expected primary-expression before ‘)’ token 853 | return_type out = return_type::from_shape({n}); | ^ /usr/include/xtensor/xtensor.hpp:854:21: error: ‘out’ was not declared in this scope 854 | auto iter = out.begin(); | ^~~ In file included from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/xtensor/xcontainer.hpp: In member function ‘void xt::xcontainer::store_simd(xt::xcontainer::size_type, const simd&)’: /usr/include/xtensor/xcontainer.hpp:728:18: error: ‘store_simd’ is not a member of ‘xt_simd’ 728 | xt_simd::store_simd(std::addressof(storage()[i]), e, align_mode()); | ^~~~~~~~~~ /usr/include/xtensor/xcontainer.hpp:728:39: error: expected primary-expression before ‘,’ token 728 | xt_simd::store_simd(std::addressof(storage()[i]), e, align_mode()); | ^ /usr/include/xtensor/xtensor.hpp: In lambda function: /usr/include/xtensor/xtensor.hpp:855:67: error: ‘iter’ is not captured 855 | for_each(idx.begin(), idx.end(), [&iter](const auto& t) { iter = std::copy(t.cbegin(), t.cend(), iter); }); | ^~~~ /usr/include/xtensor/xtensor.hpp:855:48: note: the lambda has no capture-default 855 | for_each(idx.begin(), idx.end(), [&iter](const auto& t) { iter = std::copy(t.cbegin(), t.cend(), iter); }); | ^ /usr/include/xtensor/xtensor.hpp:854:14: note: ‘iter’ declared here 854 | auto iter = out.begin(); | ^~~~ /usr/include/xtensor/xtensor.hpp:855:106: error: ‘iter’ is not captured 855 | for_each(idx.begin(), idx.end(), [&iter](const auto& t) { iter = std::copy(t.cbegin(), t.cend(), iter); }); | ^~~~ /usr/include/xtensor/xcontainer.hpp:728:66: error: expected ‘(’ before ‘>’ token 728 | xt_simd::store_simd(std::addressof(storage()[i]), e, align_mode()); | ^ | ( /usr/include/xtensor/xtensor.hpp:855:48: note: the lambda has no capture-default 855 | for_each(idx.begin(), idx.end(), [&iter](const auto& t) { iter = std::copy(t.cbegin(), t.cend(), iter); }); | ^ /usr/include/xtensor/xtensor.hpp:854:14: note: ‘iter’ declared here 854 | auto iter = out.begin(); | ^~~~ /usr/include/xtensor/xtensor.hpp: At global scope: /usr/include/xtensor/xtensor.hpp:887:51: error: template argument 4 is invalid 887 | using type = xt::xtensor; | ^ /usr/include/xtensor/xcontainer.hpp: In member function ‘xt::container_simd_return_type_t::storage_type, typename xt::xcontainer_inner_types::storage_type::value_type, requested_type> xt::xcontainer::load_simd(xt::xcontainer::size_type) const’: /usr/include/xtensor/xcontainer.hpp:738:25: error: ‘load_simd’ is not a member of ‘xt_simd’ 738 | return xt_simd::load_simd(std::addressof(storage()[i]), align_mode()); | ^~~~~~~~~ /usr/include/xtensor/xcontainer.hpp:738:45: error: expected primary-expression before ‘,’ token 738 | return xt_simd::load_simd(std::addressof(storage()[i]), align_mode()); | ^ /usr/include/xtensor/xcontainer.hpp:738:61: error: expected primary-expression before ‘>’ token 738 | return xt_simd::load_simd(std::addressof(storage()[i]), align_mode()); | ^ /usr/include/xtensor/xtensor.hpp:890:45: error: template argument 4 is invalid 890 | static xt::xtensor init(T n) | ^ /usr/include/xtensor/xtensor.hpp: In static member function ‘static int xt::detail::ravel_return_type::init(T)’: /usr/include/xtensor/xtensor.hpp:892:45: error: template argument 4 is invalid 892 | return xtensor::from_shape({n}); | ^ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp: At global scope: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:32:23: error: template argument 4 is invalid 32 | xt::xtensor vx; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:33:23: error: template argument 4 is invalid 33 | xt::xtensor vy; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:34:23: error: template argument 4 is invalid 34 | xt::xtensor wz; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:36:23: error: template argument 4 is invalid 36 | xt::xtensor cvx; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:37:23: error: template argument 4 is invalid 37 | xt::xtensor cvy; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:38:23: error: template argument 4 is invalid 38 | xt::xtensor cwz; | ^ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/xtensor/xtensor.hpp: In function ‘auto xt::from_indices(const std::vector&)’: /usr/include/xtensor/xtensor.hpp:814:62: error: template argument 4 is invalid 814 | using return_type = xtensor; | ^ /usr/include/xtensor/xtensor.hpp:815:36: error: ‘return_type’ has not been declared 815 | using size_type = typename return_type::size_type; | ^~~~~~~~~~~ /usr/include/xtensor/xtensor.hpp:819:20: error: ‘return_type’ has not been declared 819 | return return_type::from_shape({size_type(0), size_type(0)}); | ^~~~~~~~~~~ /usr/include/xtensor/xtensor.hpp:819:45: error: there are no arguments to ‘size_type’ that depend on a template parameter, so a declaration of ‘size_type’ must be available [-fpermissive] 819 | return return_type::from_shape({size_type(0), size_type(0)}); | ^~~~~~~~~ /usr/include/xtensor/xtensor.hpp:819:45: note: (if you use ‘-fpermissive’, G++ will accept your code, but allowing the use of an undeclared name is deprecated) /usr/include/xtensor/xtensor.hpp:819:59: error: there are no arguments to ‘size_type’ that depend on a template parameter, so a declaration of ‘size_type’ must be available [-fpermissive] 819 | return return_type::from_shape({size_type(0), size_type(0)}); | ^~~~~~~~~ In file included from /usr/include/xtensor/xbuffer_adaptor.hpp:21, from /usr/include/xtensor/xtensor.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /usr/include/xtensor/xtensor_forward.hpp:80:25: error: ‘XSIMD_DEFAULT_ALIGNMENT’ was not declared in this scope; did you mean ‘XTENSOR_DEFAULT_ALIGNMENT’? 80 | class A = XTENSOR_DEFAULT_ALLOCATOR(T), | ^~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xtensor_forward.hpp:80:25: error: template argument 2 is invalid 80 | class A = XTENSOR_DEFAULT_ALLOCATOR(T), | ^~~~~~~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp: In member function ‘void mppi::models::State::reset(unsigned int, unsigned int)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:48:26: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 48 | vx = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:49:26: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 49 | vy = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:50:26: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 50 | wz = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:52:27: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 52 | cvx = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:53:27: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 53 | cvy = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:54:27: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 54 | cwz = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /usr/include/xtensor/xtensor.hpp:822:9: error: ‘return_type’ was not declared in this scope 822 | return_type out = return_type::from_shape({idx.size(), idx[0].size()}); | ^~~~~~~~~~~ /usr/include/xtensor/xtensor.hpp:822:78: error: expected primary-expression before ‘)’ token 822 | return_type out = return_type::from_shape({idx.size(), idx[0].size()}); | ^ In file included from /usr/include/xtensor/xview.hpp:35, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /usr/include/xtensor/xview_utils.hpp: At global scope: /usr/include/xtensor/xview_utils.hpp:69:41: error: template argument 3 is invalid 69 | using type = xt::xarray; | ^ /usr/include/xtensor/xview_utils.hpp:69:41: error: template argument 4 is invalid /usr/include/xtensor/xview_utils.hpp:75:96: error: template argument 4 is invalid 75 | using type = xt::xtensor() - integral_count(), L>; | ^ /usr/include/xtensor/xtensor_forward.hpp:104:25: error: ‘XSIMD_DEFAULT_ALIGNMENT’ was not declared in this scope; did you mean ‘XTENSOR_DEFAULT_ALIGNMENT’? 104 | class A = XTENSOR_DEFAULT_ALLOCATOR(T), | ^~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xtensor_forward.hpp:104:25: error: template argument 2 is invalid 104 | class A = XTENSOR_DEFAULT_ALLOCATOR(T), | ^~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xtensor.hpp:824:14: error: ‘size_type’ was not declared in this scope; did you mean ‘size_t’? 824 | for (size_type i = 0; i < out.shape()[0]; ++i) | ^~~~~~~~~ | size_t /usr/include/xtensor/xtensor.hpp:824:31: error: ‘i’ was not declared in this scope 824 | for (size_type i = 0; i < out.shape()[0]; ++i) | ^ /usr/include/xtensor/xtensor.hpp:824:35: error: ‘out’ was not declared in this scope 824 | for (size_type i = 0; i < out.shape()[0]; ++i) | ^~~ /usr/include/xtensor/xtensor.hpp:826:27: error: expected ‘;’ before ‘j’ 826 | for (size_type j = 0; j < out.shape()[1]; ++j) | ^~ | ; /usr/include/xtensor/xtensor_forward.hpp:135:25: error: ‘XSIMD_DEFAULT_ALIGNMENT’ was not declared in this scope; did you mean ‘XTENSOR_DEFAULT_ALIGNMENT’? 135 | class A = XTENSOR_DEFAULT_ALLOCATOR(T)> | ^~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xtensor_forward.hpp:135:25: error: template argument 2 is invalid 135 | class A = XTENSOR_DEFAULT_ALLOCATOR(T)> | ^~~~~~~~~~~~~~~~~~~~~~~~~ In file included from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /usr/include/xtensor/xmath.hpp: In function ‘auto xt::interp(const E1&, const E2&, const E3&, T, T)’: /usr/include/xtensor/xmath.hpp:2895:39: error: template argument 4 is invalid 2895 | auto f = xtensor::from_shape(x.shape()); | ^ In file included from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /usr/include/xtensor/xcontainer.hpp: In member function ‘void xt::xcontainer::store_simd(xt::xcontainer::size_type, const simd&)’: /usr/include/xtensor/xcontainer.hpp:728:18: error: ‘store_simd’ is not a member of ‘xt_simd’ 728 | xt_simd::store_simd(std::addressof(storage()[i]), e, align_mode()); | ^~~~~~~~~~ /usr/include/xtensor/xcontainer.hpp:728:39: error: expected primary-expression before ‘,’ token 728 | xt_simd::store_simd(std::addressof(storage()[i]), e, align_mode()); | ^ /usr/include/xtensor/xcontainer.hpp:728:66: error: expected ‘(’ before ‘>’ token 728 | xt_simd::store_simd(std::addressof(storage()[i]), e, align_mode()); | ^ | ( /usr/include/xtensor/xtensor.hpp:826:35: error: ‘j’ was not declared in this scope 826 | for (size_type j = 0; j < out.shape()[1]; ++j) | ^ /usr/include/xtensor/xcontainer.hpp: In member function ‘xt::container_simd_return_type_t::storage_type, typename xt::xcontainer_inner_types::storage_type::value_type, requested_type> xt::xcontainer::load_simd(xt::xcontainer::size_type) const’: /usr/include/xtensor/xcontainer.hpp:738:25: error: ‘load_simd’ is not a member of ‘xt_simd’ 738 | return xt_simd::load_simd(std::addressof(storage()[i]), align_mode()); | ^~~~~~~~~ /usr/include/xtensor/xcontainer.hpp:738:45: error: expected primary-expression before ‘,’ token 738 | return xt_simd::load_simd(std::addressof(storage()[i]), align_mode()); | ^ /usr/include/xtensor/xcontainer.hpp:738:61: error: expected primary-expression before ‘>’ token 738 | return xt_simd::load_simd(std::addressof(storage()[i]), align_mode()); | ^ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:30:23: error: template argument 4 is invalid 30 | xt::xtensor x; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:31:23: error: template argument 4 is invalid 31 | xt::xtensor y; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:32:23: error: template argument 4 is invalid 32 | xt::xtensor yaws; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp: In member function ‘void mppi::models::Trajectories::reset(unsigned int, unsigned int)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:39:25: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 39 | x = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:40:25: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 40 | y = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:41:28: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 41 | yaws = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:26, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp: At global scope: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp:29:23: error: template argument 4 is invalid 29 | xt::xtensor x; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp:30:23: error: template argument 4 is invalid 30 | xt::xtensor y; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp:31:23: error: template argument 4 is invalid 31 | xt::xtensor yaws; | ^ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /usr/include/xtensor/xtensor.hpp: In function ‘auto xt::from_indices(const std::vector&)’: /usr/include/xtensor/xtensor.hpp:814:62: error: template argument 4 is invalid 814 | using return_type = xtensor; | ^ /usr/include/xtensor/xtensor.hpp:815:36: error: ‘return_type’ has not been declared 815 | using size_type = typename return_type::size_type; | ^~~~~~~~~~~ /usr/include/xtensor/xtensor.hpp:819:20: error: ‘return_type’ has not been declared 819 | return return_type::from_shape({size_type(0), size_type(0)}); | ^~~~~~~~~~~ /usr/include/xtensor/xtensor.hpp:819:45: error: there are no arguments to ‘size_type’ that depend on a template parameter, so a declaration of ‘size_type’ must be available [-fpermissive] 819 | return return_type::from_shape({size_type(0), size_type(0)}); | ^~~~~~~~~ /usr/include/xtensor/xtensor.hpp:819:45: note: (if you use ‘-fpermissive’, G++ will accept your code, but allowing the use of an undeclared name is deprecated) /usr/include/xtensor/xtensor.hpp:819:59: error: there are no arguments to ‘size_type’ that depend on a template parameter, so a declaration of ‘size_type’ must be available [-fpermissive] 819 | return return_type::from_shape({size_type(0), size_type(0)}); | ^~~~~~~~~ /usr/include/xtensor/xtensor.hpp:832:16: error: ‘out’ was not declared in this scope 832 | return out; | ^~~ /usr/include/xtensor/xtensor.hpp: In function ‘auto xt::flatten_indices(const std::vector&)’: /usr/include/xtensor/xtensor.hpp:852:62: error: template argument 4 is invalid 852 | using return_type = xtensor; | ^ /usr/include/xtensor/xtensor.hpp:822:9: error: ‘return_type’ was not declared in this scope 822 | return_type out = return_type::from_shape({idx.size(), idx[0].size()}); | ^~~~~~~~~~~ /usr/include/xtensor/xtensor.hpp:822:78: error: expected primary-expression before ‘)’ token 822 | return_type out = return_type::from_shape({idx.size(), idx[0].size()}); | ^ /usr/include/xtensor/xtensor_forward.hpp:199:25: error: ‘XSIMD_DEFAULT_ALIGNMENT’ was not declared in this scope; did you mean ‘XTENSOR_DEFAULT_ALIGNMENT’? 199 | class A = XTENSOR_DEFAULT_ALLOCATOR(T), | ^~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xtensor_forward.hpp:199:25: error: template argument 2 is invalid 199 | class A = XTENSOR_DEFAULT_ALLOCATOR(T), | ^~~~~~~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp: In member function ‘void mppi::models::Path::reset(unsigned int)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp:38:25: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 38 | x = xt::zeros({size}); | ~~~~~~~~~~~~~~~~^~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp:39:25: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 39 | y = xt::zeros({size}); | ~~~~~~~~~~~~~~~~^~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp:40:28: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 40 | yaws = xt::zeros({size}); | ~~~~~~~~~~~~~~~~^~~~~~~~ | | | xt::xbroadcast, std::array > In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:27, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp: At global scope: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:38:23: error: template argument 4 is invalid 38 | xt::xtensor vx; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:39:23: error: template argument 4 is invalid 39 | xt::xtensor vy; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:40:23: error: template argument 4 is invalid 40 | xt::xtensor wz; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp: In member function ‘void mppi::models::ControlSequence::reset(unsigned int)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:44:26: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 44 | vx = xt::zeros({time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:45:26: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 45 | vy = xt::zeros({time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:46:26: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 46 | wz = xt::zeros({time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /usr/include/xtensor/xtensor.hpp:824:14: error: ‘size_type’ was not declared in this scope; did you mean ‘size_t’? 824 | for (size_type i = 0; i < out.shape()[0]; ++i) | ^~~~~~~~~ | size_t /usr/include/xtensor/xtensor.hpp:853:9: error: ‘return_type’ was not declared in this scope 853 | return_type out = return_type::from_shape({n}); | ^~~~~~~~~~~ /usr/include/xtensor/xtensor.hpp:853:54: error: expected primary-expression before ‘)’ token 853 | return_type out = return_type::from_shape({n}); | ^ /usr/include/xtensor/xtensor.hpp:824:31: error: ‘i’ was not declared in this scope 824 | for (size_type i = 0; i < out.shape()[0]; ++i) | ^ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:23, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:27, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /usr/include/xtensor/xmasked_view.hpp: At global scope: /usr/include/xtensor/xmasked_view.hpp:51:84: error: template argument 3 is invalid 51 | using temporary_type = xarray>; | ^~ /usr/include/xtensor/xmasked_view.hpp:51:84: error: template argument 4 is invalid /usr/include/xtensor/xtensor.hpp:854:21: error: ‘out’ was not declared in this scope 854 | auto iter = out.begin(); | ^~~ /usr/include/xtensor/xtensor.hpp: In lambda function: /usr/include/xtensor/xtensor.hpp:855:67: error: ‘iter’ is not captured 855 | for_each(idx.begin(), idx.end(), [&iter](const auto& t) { iter = std::copy(t.cbegin(), t.cend(), iter); }); | ^~~~ /usr/include/xtensor/xtensor.hpp:855:48: note: the lambda has no capture-default 855 | for_each(idx.begin(), idx.end(), [&iter](const auto& t) { iter = std::copy(t.cbegin(), t.cend(), iter); }); | ^ /usr/include/xtensor/xtensor.hpp:854:14: note: ‘iter’ declared here 854 | auto iter = out.begin(); | ^~~~ /usr/include/xtensor/xtensor.hpp:855:106: error: ‘iter’ is not captured 855 | for_each(idx.begin(), idx.end(), [&iter](const auto& t) { iter = std::copy(t.cbegin(), t.cend(), iter); }); | ^~~~ /usr/include/xtensor/xtensor.hpp:855:48: note: the lambda has no capture-default 855 | for_each(idx.begin(), idx.end(), [&iter](const auto& t) { iter = std::copy(t.cbegin(), t.cend(), iter); }); | ^ /usr/include/xtensor/xtensor.hpp:854:14: note: ‘iter’ declared here 854 | auto iter = out.begin(); | ^~~~ /usr/include/xtensor/xtensor.hpp: At global scope: /usr/include/xtensor/xtensor.hpp:887:51: error: template argument 4 is invalid 887 | using type = xt::xtensor; | ^ /usr/include/xtensor/xtensor.hpp:890:45: error: template argument 4 is invalid 890 | static xt::xtensor init(T n) | ^ /usr/include/xtensor/xtensor.hpp: In static member function ‘static int xt::detail::ravel_return_type::init(T)’: /usr/include/xtensor/xtensor.hpp:892:45: error: template argument 4 is invalid 892 | return xtensor::from_shape({n}); | ^ /usr/include/xtensor/xtensor.hpp:824:35: error: ‘out’ was not declared in this scope 824 | for (size_type i = 0; i < out.shape()[0]; ++i) | ^~~ /usr/include/xtensor/xtensor.hpp:826:27: error: expected ‘;’ before ‘j’ 826 | for (size_type j = 0; j < out.shape()[1]; ++j) | ^~ | ; In file included from /usr/include/xtensor/xstrided_view_base.hpp:19, from /usr/include/xtensor/xstrided_view.hpp:27, from /usr/include/xtensor/xgenerator.hpp:27, from /usr/include/xtensor/xbuilder.hpp:31, from /usr/include/xtensor/xmanipulation.hpp:13, from /usr/include/xtensor/xmath.hpp:28, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /usr/include/xtensor/xslice.hpp: In instantiation of ‘struct xt::detail::get_slice_type_impl’: /usr/include/xtensor/xview.hpp:1773:19: required from ‘auto xt::detail::make_view_impl(E&&, std::index_sequence<__indices ...>, S&& ...) [with E = int&; long unsigned int ...I = {0, 1}; S = {xt::xall_tag, xt::xrange_adaptor}; std::index_sequence<__indices ...> = std::integer_sequence]’ /usr/include/xtensor/xview.hpp:1792:38: required from ‘auto xt::view(E&&, S&& ...) [with E = int&; S = {xt::xall_tag, xt::xrange_adaptor}]’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:56:25: required from here /usr/include/xtensor/xslice.hpp:995:19: error: ‘int’ is not a class, struct, or union type 995 | using type = xall; | ^~~~ /usr/include/xtensor/xslice.hpp: In instantiation of ‘auto xt::detail::slice_implementation_getter::operator()(E&, SL&&, std::size_t) const [with E = int; SL = xt::xall_tag; std::size_t = long unsigned int]’: /usr/include/xtensor/xslice.hpp:977:22: required from ‘auto xt::get_slice_implementation(E&, SL&&, std::size_t) [with E = int; SL = xt::xall_tag; std::size_t = long unsigned int]’ /usr/include/xtensor/xview.hpp:1775:41: required from ‘auto xt::detail::make_view_impl(E&&, std::index_sequence<__indices ...>, S&& ...) [with E = int&; long unsigned int ...I = {0, 1}; S = {xt::xall_tag, xt::xrange_adaptor}; std::index_sequence<__indices ...> = std::integer_sequence]’ /usr/include/xtensor/xview.hpp:1792:38: required from ‘auto xt::view(E&&, S&& ...) [with E = int&; S = {xt::xall_tag, xt::xrange_adaptor}]’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:56:25: required from here /usr/include/xtensor/xslice.hpp:948:24: error: ‘int’ is not a class, struct, or union type 948 | return xall(e.shape()[index]); | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xslice.hpp:948:54: error: request for member ‘shape’ in ‘e’, which is of non-class type ‘int’ 948 | return xall(e.shape()[index]); | ~~^~~~~ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp: At global scope: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:32:23: error: template argument 4 is invalid 32 | xt::xtensor vx; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:33:23: error: template argument 4 is invalid 33 | xt::xtensor vy; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:34:23: error: template argument 4 is invalid 34 | xt::xtensor wz; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:36:23: error: template argument 4 is invalid 36 | xt::xtensor cvx; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:37:23: error: template argument 4 is invalid 37 | xt::xtensor cvy; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:38:23: error: template argument 4 is invalid 38 | xt::xtensor cwz; | ^ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:27, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp: In member function ‘virtual void mppi::AckermannMotionModel::applyConstraints(mppi::models::ControlSequence&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:115:45: error: no matching function for call to ‘fabs(int&)’ 115 | auto view = xt::masked_view(wz, xt::fabs(vx) / xt::fabs(wz) < min_turning_r_); | ~~~~~~~~^~~~ In file included from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /usr/include/xtensor/xmath.hpp:444:17: note: candidate: ‘template xt::detail::xfunction_type_t xt::fabs(E&&)’ 444 | inline auto fabs(E&& e) noexcept | ^~~~ /usr/include/xtensor/xmath.hpp:444:17: note: template argument deduction/substitution failed: In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/specfun.h:45, from /usr/include/c++/11.4.0/cmath:1935, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:15: /usr/include/c++/11.4.0/type_traits: In substitution of ‘template using enable_if_t = typename std::enable_if::type [with bool _Cond = false; _Tp = xt::detail::xfunction_type]’: /usr/include/xtensor/xoperation.hpp:211:15: required by substitution of ‘template using xfunction_type_t = typename std::enable_if::type>::type>...>::value, xt::detail::xfunction_type >::type::type [with F = xt::math::fabs_fun; E = {int&}]’ /usr/include/xtensor/xmath.hpp:444:17: required by substitution of ‘template xt::detail::xfunction_type_t xt::fabs(E&&) [with E = int&]’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:115:45: required from here /usr/include/c++/11.4.0/type_traits:2579:11: error: no type named ‘type’ in ‘struct std::enable_if >’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:27, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:115:60: error: no matching function for call to ‘fabs(int&)’ 115 | auto view = xt::masked_view(wz, xt::fabs(vx) / xt::fabs(wz) < min_turning_r_); | ~~~~~~~~^~~~ In file included from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /usr/include/xtensor/xmath.hpp:444:17: note: candidate: ‘template xt::detail::xfunction_type_t xt::fabs(E&&)’ 444 | inline auto fabs(E&& e) noexcept | ^~~~ /usr/include/xtensor/xmath.hpp:444:17: note: template argument deduction/substitution failed: In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:27, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:116:20: error: no matching function for call to ‘sign(int&)’ 116 | view = xt::sign(wz) * vx / min_turning_r_; | ~~~~~~~~^~~~ In file included from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /usr/include/xtensor/xmath.hpp:851:17: note: candidate: ‘template xt::detail::xfunction_type_t xt::sign(E&&)’ 851 | inline auto sign(E&& e) noexcept | ^~~~ /usr/include/xtensor/xmath.hpp:851:17: note: template argument deduction/substitution failed: In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/specfun.h:45, from /usr/include/c++/11.4.0/cmath:1935, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:15: /usr/include/c++/11.4.0/type_traits: In substitution of ‘template using enable_if_t = typename std::enable_if::type [with bool _Cond = false; _Tp = xt::detail::xfunction_type]’: /usr/include/xtensor/xoperation.hpp:211:15: required by substitution of ‘template using xfunction_type_t = typename std::enable_if::type>::type>...>::value, xt::detail::xfunction_type >::type::type [with F = xt::math::sign_fun; E = {int&}]’ /usr/include/xtensor/xmath.hpp:851:17: required by substitution of ‘template xt::detail::xfunction_type_t xt::sign(E&&) [with E = int&]’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:116:20: required from here /usr/include/c++/11.4.0/type_traits:2579:11: error: no type named ‘type’ in ‘struct std::enable_if >’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp: At global scope: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:44:23: error: template argument 4 is invalid 44 | xt::xtensor & costs; | ^ /usr/include/xtensor/xtensor.hpp:826:35: error: ‘j’ was not declared in this scope 826 | for (size_type j = 0; j < out.shape()[1]; ++j) | ^ /usr/include/xtensor/xtensor.hpp:832:16: error: ‘out’ was not declared in this scope 832 | return out; | ^~~ /usr/include/xtensor/xtensor.hpp: In function ‘auto xt::flatten_indices(const std::vector&)’: /usr/include/xtensor/xtensor.hpp:852:62: error: template argument 4 is invalid 852 | using return_type = xtensor; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp: In member function ‘void mppi::models::State::reset(unsigned int, unsigned int)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:48:26: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 48 | vx = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:49:26: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 49 | vy = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:50:26: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 50 | wz = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:52:27: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 52 | cvx = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:53:27: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 53 | cvy = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:54:27: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 54 | cwz = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /usr/include/xtensor/xtensor.hpp:853:9: error: ‘return_type’ was not declared in this scope 853 | return_type out = return_type::from_shape({n}); | ^~~~~~~~~~~ /usr/include/xtensor/xtensor.hpp:853:54: error: expected primary-expression before ‘)’ token 853 | return_type out = return_type::from_shape({n}); | ^ In file included from /usr/include/xtensor/xview.hpp:35, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/xtensor/xview_utils.hpp: At global scope: /usr/include/xtensor/xview_utils.hpp:69:41: error: template argument 3 is invalid 69 | using type = xt::xarray; | ^ /usr/include/xtensor/xview_utils.hpp:69:41: error: template argument 4 is invalid /usr/include/xtensor/xview_utils.hpp:75:96: error: template argument 4 is invalid 75 | using type = xt::xtensor() - integral_count(), L>; | ^ /usr/include/xtensor/xtensor.hpp:854:21: error: ‘out’ was not declared in this scope 854 | auto iter = out.begin(); | ^~~ /usr/include/xtensor/xtensor.hpp: In lambda function: /usr/include/xtensor/xtensor.hpp:855:67: error: ‘iter’ is not captured 855 | for_each(idx.begin(), idx.end(), [&iter](const auto& t) { iter = std::copy(t.cbegin(), t.cend(), iter); }); | ^~~~ /usr/include/xtensor/xtensor.hpp:855:48: note: the lambda has no capture-default 855 | for_each(idx.begin(), idx.end(), [&iter](const auto& t) { iter = std::copy(t.cbegin(), t.cend(), iter); }); | ^ /usr/include/xtensor/xtensor.hpp:854:14: note: ‘iter’ declared here 854 | auto iter = out.begin(); | ^~~~ /usr/include/xtensor/xtensor.hpp:855:106: error: ‘iter’ is not captured 855 | for_each(idx.begin(), idx.end(), [&iter](const auto& t) { iter = std::copy(t.cbegin(), t.cend(), iter); }); | ^~~~ /usr/include/xtensor/xtensor.hpp:855:48: note: the lambda has no capture-default 855 | for_each(idx.begin(), idx.end(), [&iter](const auto& t) { iter = std::copy(t.cbegin(), t.cend(), iter); }); | ^ /usr/include/xtensor/xtensor.hpp:854:14: note: ‘iter’ declared here 854 | auto iter = out.begin(); | ^~~~ /usr/include/xtensor/xtensor.hpp: At global scope: /usr/include/xtensor/xtensor.hpp:887:51: error: template argument 4 is invalid 887 | using type = xt::xtensor; | ^ /usr/include/xtensor/xtensor.hpp:890:45: error: template argument 4 is invalid 890 | static xt::xtensor init(T n) | ^ /usr/include/xtensor/xtensor.hpp: In static member function ‘static int xt::detail::ravel_return_type::init(T)’: /usr/include/xtensor/xtensor.hpp:892:45: error: template argument 4 is invalid 892 | return xtensor::from_shape({n}); | ^ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp: At global scope: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:32:23: error: template argument 4 is invalid 32 | xt::xtensor vx; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:33:23: error: template argument 4 is invalid 33 | xt::xtensor vy; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:34:23: error: template argument 4 is invalid 34 | xt::xtensor wz; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:36:23: error: template argument 4 is invalid 36 | xt::xtensor cvx; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:37:23: error: template argument 4 is invalid 37 | xt::xtensor cvy; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:38:23: error: template argument 4 is invalid 38 | xt::xtensor cwz; | ^ In file included from /usr/include/xtensor/xmath.hpp:26, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /usr/include/xtensor/xaccumulator.hpp:85:52: error: template argument 3 is invalid 85 | xarray::value_type> accumulator_impl(F&&, E&&, std::size_t, EVS) | ^ /usr/include/xtensor/xaccumulator.hpp:85:52: error: template argument 4 is invalid In file included from /usr/include/xtensor/xmath.hpp:26, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /usr/include/xtensor/xaccumulator.hpp:91:52: error: template argument 3 is invalid 91 | xarray::value_type> accumulator_impl(F&&, E&&, EVS) | ^ /usr/include/xtensor/xaccumulator.hpp:91:52: error: template argument 4 is invalid /usr/include/xtensor/xaccumulator.hpp:99:34: error: template argument 3 is invalid 99 | using type = xarray; | ^ /usr/include/xtensor/xaccumulator.hpp:99:34: error: template argument 4 is invalid /usr/include/xtensor/xaccumulator.hpp:103:52: error: template argument 3 is invalid 103 | struct xaccumulator_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:103:52: error: template argument 4 is invalid /usr/include/xtensor/xaccumulator.hpp:103:56: error: template argument 1 is invalid 103 | struct xaccumulator_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:109:56: error: template argument 4 is invalid 109 | struct xaccumulator_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:109:60: error: template argument 1 is invalid 109 | struct xaccumulator_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:129:38: error: template argument 4 is invalid 129 | using type = xtensor; | ^ /usr/include/xtensor/xaccumulator.hpp:133:59: error: template argument 3 is invalid 133 | struct xaccumulator_linear_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:133:59: error: template argument 4 is invalid /usr/include/xtensor/xaccumulator.hpp:133:63: error: template argument 1 is invalid 133 | struct xaccumulator_linear_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:139:63: error: template argument 4 is invalid 139 | struct xaccumulator_linear_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:139:67: error: template argument 1 is invalid 139 | struct xaccumulator_linear_return_type, R> | ^ In file included from /usr/include/xtensor/xeval.hpp:13, from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /usr/include/xtensor/xexpression_traits.hpp:103:37: error: template argument 3 is invalid 103 | using type = xarray; | ^ /usr/include/xtensor/xexpression_traits.hpp:103:37: error: template argument 4 is invalid /usr/include/xtensor/xexpression_traits.hpp:112:37: error: template argument 3 is invalid 112 | using type = xarray; | ^ /usr/include/xtensor/xexpression_traits.hpp:112:37: error: template argument 4 is invalid /usr/include/xtensor/xexpression_traits.hpp:121:41: error: template argument 4 is invalid 121 | using type = xtensor; | ^ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /usr/include/xtensor/xeval.hpp:96:104: error: template argument 3 is invalid 96 | using as_xarray_container_t = xarray::value_type, layout_remove_any(L)>; | ^ /usr/include/xtensor/xeval.hpp:96:104: error: template argument 4 is invalid /usr/include/xtensor/xeval.hpp:105:68: error: template argument 4 is invalid 105 | layout_remove_any(L)>; | ^ /usr/include/xtensor/xeval.hpp:142:37: error: ‘as_xtensor_container_t’ is not a member of ‘xt::detail’ 142 | detail::as_xtensor_container_t> | ^~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:142:63: error: wrong number of template arguments (3, should be at least 1) 142 | detail::as_xtensor_container_t> | ^ In file included from /usr/include/c++/11.4.0/ratio:39, from /usr/include/c++/11.4.0/chrono:39, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:16: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /usr/include/xtensor/xeval.hpp:142:37: error: ‘as_xtensor_container_t’ is not a member of ‘xt::detail’ 142 | detail::as_xtensor_container_t> | ^~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:142:64: error: wrong number of template arguments (3, should be at least 1) 142 | detail::as_xtensor_container_t> | ^~ In file included from /usr/include/c++/11.4.0/ratio:39, from /usr/include/c++/11.4.0/chrono:39, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:16: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /usr/include/xtensor/xeval.hpp:142:37: error: ‘as_xtensor_container_t’ is not a member of ‘xt::detail’ 142 | detail::as_xtensor_container_t> | ^~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:142:64: error: wrong number of template arguments (3, should be at least 1) 142 | detail::as_xtensor_container_t> | ^~ In file included from /usr/include/c++/11.4.0/ratio:39, from /usr/include/c++/11.4.0/chrono:39, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:16: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /usr/include/xtensor/xeval.hpp:142:37: error: ‘as_xtensor_container_t’ is not a member of ‘xt::detail’ 142 | detail::as_xtensor_container_t> | ^~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:142:64: error: wrong number of template arguments (3, should be at least 1) 142 | detail::as_xtensor_container_t> | ^~ In file included from /usr/include/c++/11.4.0/ratio:39, from /usr/include/c++/11.4.0/chrono:39, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:16: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /usr/include/xtensor/xeval.hpp:142:37: error: ‘as_xtensor_container_t’ is not a member of ‘xt::detail’ 142 | detail::as_xtensor_container_t> | ^~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:142:64: error: wrong number of template arguments (3, should be at least 1) 142 | detail::as_xtensor_container_t> | ^~ In file included from /usr/include/c++/11.4.0/ratio:39, from /usr/include/c++/11.4.0/chrono:39, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:16: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /usr/include/xtensor/xeval.hpp:142:37: error: ‘as_xtensor_container_t’ is not a member of ‘xt::detail’ 142 | detail::as_xtensor_container_t> | ^~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:142:64: error: wrong number of template arguments (3, should be at least 1) 142 | detail::as_xtensor_container_t> | ^~ In file included from /usr/include/c++/11.4.0/ratio:39, from /usr/include/c++/11.4.0/chrono:39, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:16: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /usr/include/xtensor/xeval.hpp:139:12: error: invalid use of template-name ‘std::enable_if_t’ without an argument list 139 | -> std::enable_if_t<(!(has_data_interface>::value | ^~~ In file included from /usr/include/c++/11.4.0/ratio:39, from /usr/include/c++/11.4.0/chrono:39, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:16: /usr/include/c++/11.4.0/type_traits:2579:11: note: ‘template using enable_if_t = typename std::enable_if::type’ declared here 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /usr/include/xtensor/xeval.hpp:139:28: error: expected initializer before ‘<’ token 139 | -> std::enable_if_t<(!(has_data_interface>::value | ^ /usr/include/xtensor/xeval.hpp:153:37: error: ‘as_xarray_container_t’ is not a member of ‘xt::detail’ 153 | detail::as_xarray_container_t> | ^~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:153:62: error: wrong number of template arguments (3, should be at least 1) 153 | detail::as_xarray_container_t> | ^ In file included from /usr/include/c++/11.4.0/ratio:39, from /usr/include/c++/11.4.0/chrono:39, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:16: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /usr/include/xtensor/xeval.hpp:153:37: error: ‘as_xarray_container_t’ is not a member of ‘xt::detail’ 153 | detail::as_xarray_container_t> | ^~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:153:63: error: wrong number of template arguments (3, should be at least 1) 153 | detail::as_xarray_container_t> | ^~ In file included from /usr/include/c++/11.4.0/ratio:39, from /usr/include/c++/11.4.0/chrono:39, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:16: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /usr/include/xtensor/xeval.hpp:153:37: error: ‘as_xarray_container_t’ is not a member of ‘xt::detail’ 153 | detail::as_xarray_container_t> | ^~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:153:63: error: wrong number of template arguments (3, should be at least 1) 153 | detail::as_xarray_container_t> | ^~ In file included from /usr/include/c++/11.4.0/ratio:39, from /usr/include/c++/11.4.0/chrono:39, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:16: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp: In member function ‘void mppi::models::State::reset(unsigned int, unsigned int)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:48:26: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 48 | vx = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:49:26: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 49 | vy = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /usr/include/xtensor/xeval.hpp:153:37: error: ‘as_xarray_container_t’ is not a member of ‘xt::detail’ 153 | detail::as_xarray_container_t> | ^~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:153:63: error: wrong number of template arguments (3, should be at least 1) 153 | detail::as_xarray_container_t> | ^~ In file included from /usr/include/c++/11.4.0/ratio:39, from /usr/include/c++/11.4.0/chrono:39, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:16: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /usr/include/xtensor/xeval.hpp:153:37: error: ‘as_xarray_container_t’ is not a member of ‘xt::detail’ 153 | detail::as_xarray_container_t> | ^~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:153:63: error: wrong number of template arguments (3, should be at least 1) 153 | detail::as_xarray_container_t> | ^~ In file included from /usr/include/c++/11.4.0/ratio:39, from /usr/include/c++/11.4.0/chrono:39, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:16: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /usr/include/xtensor/xeval.hpp:153:37: error: ‘as_xarray_container_t’ is not a member of ‘xt::detail’ 153 | detail::as_xarray_container_t> | ^~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:153:63: error: wrong number of template arguments (3, should be at least 1) 153 | detail::as_xarray_container_t> | ^~ In file included from /usr/include/c++/11.4.0/ratio:39, from /usr/include/c++/11.4.0/chrono:39, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:16: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /usr/include/xtensor/xeval.hpp:150:12: error: invalid use of template-name ‘std::enable_if_t’ without an argument list 150 | -> std::enable_if_t<(!(has_data_interface>::value | ^~~ In file included from /usr/include/c++/11.4.0/ratio:39, from /usr/include/c++/11.4.0/chrono:39, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:16: /usr/include/c++/11.4.0/type_traits:2579:11: note: ‘template using enable_if_t = typename std::enable_if::type’ declared here 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /usr/include/xtensor/xeval.hpp:150:28: error: expected initializer before ‘<’ token 150 | -> std::enable_if_t<(!(has_data_interface>::value | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:50:26: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 50 | wz = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:52:27: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 52 | cvx = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:53:27: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 53 | cvy = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:54:27: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 54 | cwz = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:30:23: error: template argument 4 is invalid 30 | xt::xtensor x; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:31:23: error: template argument 4 is invalid 31 | xt::xtensor y; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:32:23: error: template argument 4 is invalid 32 | xt::xtensor yaws; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp: In member function ‘void mppi::models::Trajectories::reset(unsigned int, unsigned int)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:39:25: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 39 | x = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:40:25: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 40 | y = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:41:28: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 41 | yaws = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:26, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp: At global scope: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp:29:23: error: template argument 4 is invalid 29 | xt::xtensor x; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp:30:23: error: template argument 4 is invalid 30 | xt::xtensor y; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp:31:23: error: template argument 4 is invalid 31 | xt::xtensor yaws; | ^ In file included from /usr/include/xtensor/xview.hpp:35, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /usr/include/xtensor/xview_utils.hpp: At global scope: /usr/include/xtensor/xview_utils.hpp:69:41: error: template argument 3 is invalid 69 | using type = xt::xarray; | ^ /usr/include/xtensor/xview_utils.hpp:69:41: error: template argument 4 is invalid /usr/include/xtensor/xview_utils.hpp:75:96: error: template argument 4 is invalid 75 | using type = xt::xtensor() - integral_count(), L>; | ^ In file included from /usr/include/xtensor/xbroadcast.hpp:26, from /usr/include/xtensor/xbuilder.hpp:29, from /usr/include/xtensor/xmanipulation.hpp:13, from /usr/include/xtensor/xmath.hpp:28, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /usr/include/xtensor/xscalar.hpp: In member function ‘xt_simd::simd_return_type >::value_type, requested_type> xt::xscalar::load_simd(xt::xscalar::size_type) const’: /usr/include/xtensor/xscalar.hpp:964:25: error: ‘set_simd’ is not a member of ‘xt_simd’ 964 | return xt_simd::set_simd(m_value); | ^~~~~~~~ /usr/include/xtensor/xscalar.hpp:964:44: error: expected primary-expression before ‘,’ token 964 | return xt_simd::set_simd(m_value); | ^ /usr/include/xtensor/xscalar.hpp:964:60: error: expected primary-expression before ‘>’ token 964 | return xt_simd::set_simd(m_value); | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp: In member function ‘void mppi::models::Path::reset(unsigned int)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp:38:25: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 38 | x = xt::zeros({size}); | ~~~~~~~~~~~~~~~~^~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp:39:25: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 39 | y = xt::zeros({size}); | ~~~~~~~~~~~~~~~~^~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp:40:28: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 40 | yaws = xt::zeros({size}); | ~~~~~~~~~~~~~~~~^~~~~~~~ | | | xt::xbroadcast, std::array > In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:27, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp: At global scope: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:38:23: error: template argument 4 is invalid 38 | xt::xtensor vx; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:39:23: error: template argument 4 is invalid 39 | xt::xtensor vy; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:40:23: error: template argument 4 is invalid 40 | xt::xtensor wz; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp: In member function ‘void mppi::models::ControlSequence::reset(unsigned int)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:44:26: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 44 | vx = xt::zeros({time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:45:26: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 45 | vy = xt::zeros({time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:46:26: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 46 | wz = xt::zeros({time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:23, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:27, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/xtensor/xmasked_view.hpp: At global scope: /usr/include/xtensor/xmasked_view.hpp:51:84: error: template argument 3 is invalid 51 | using temporary_type = xarray>; | ^~ /usr/include/xtensor/xmasked_view.hpp:51:84: error: template argument 4 is invalid In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:30:23: error: template argument 4 is invalid 30 | xt::xtensor x; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:31:23: error: template argument 4 is invalid 31 | xt::xtensor y; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:32:23: error: template argument 4 is invalid 32 | xt::xtensor yaws; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp: In member function ‘void mppi::models::Trajectories::reset(unsigned int, unsigned int)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:39:25: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 39 | x = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:40:25: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 40 | y = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:41:28: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 41 | yaws = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:26, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp: At global scope: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp:29:23: error: template argument 4 is invalid 29 | xt::xtensor x; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp:30:23: error: template argument 4 is invalid 30 | xt::xtensor y; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp:31:23: error: template argument 4 is invalid 31 | xt::xtensor yaws; | ^ In file included from /usr/include/xtensor/xstrided_view_base.hpp:19, from /usr/include/xtensor/xstrided_view.hpp:27, from /usr/include/xtensor/xgenerator.hpp:27, from /usr/include/xtensor/xbuilder.hpp:31, from /usr/include/xtensor/xmanipulation.hpp:13, from /usr/include/xtensor/xmath.hpp:28, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/xtensor/xslice.hpp: In instantiation of ‘struct xt::detail::get_slice_type_impl’: /usr/include/xtensor/xview.hpp:1773:19: required from ‘auto xt::detail::make_view_impl(E&&, std::index_sequence<__indices ...>, S&& ...) [with E = int&; long unsigned int ...I = {0, 1}; S = {xt::xall_tag, xt::xrange_adaptor}; std::index_sequence<__indices ...> = std::integer_sequence]’ /usr/include/xtensor/xview.hpp:1792:38: required from ‘auto xt::view(E&&, S&& ...) [with E = int&; S = {xt::xall_tag, xt::xrange_adaptor}]’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:56:25: required from here /usr/include/xtensor/xslice.hpp:995:19: error: ‘int’ is not a class, struct, or union type 995 | using type = xall; | ^~~~ /usr/include/xtensor/xslice.hpp: In instantiation of ‘auto xt::detail::slice_implementation_getter::operator()(E&, SL&&, std::size_t) const [with E = int; SL = xt::xall_tag; std::size_t = long unsigned int]’: /usr/include/xtensor/xslice.hpp:977:22: required from ‘auto xt::get_slice_implementation(E&, SL&&, std::size_t) [with E = int; SL = xt::xall_tag; std::size_t = long unsigned int]’ /usr/include/xtensor/xview.hpp:1775:41: required from ‘auto xt::detail::make_view_impl(E&&, std::index_sequence<__indices ...>, S&& ...) [with E = int&; long unsigned int ...I = {0, 1}; S = {xt::xall_tag, xt::xrange_adaptor}; std::index_sequence<__indices ...> = std::integer_sequence]’ /usr/include/xtensor/xview.hpp:1792:38: required from ‘auto xt::view(E&&, S&& ...) [with E = int&; S = {xt::xall_tag, xt::xrange_adaptor}]’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:56:25: required from here /usr/include/xtensor/xslice.hpp:948:24: error: ‘int’ is not a class, struct, or union type 948 | return xall(e.shape()[index]); | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xslice.hpp:948:54: error: request for member ‘shape’ in ‘e’, which is of non-class type ‘int’ 948 | return xall(e.shape()[index]); | ~~^~~~~ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:27, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp: In member function ‘virtual void mppi::AckermannMotionModel::applyConstraints(mppi::models::ControlSequence&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:115:45: error: no matching function for call to ‘fabs(int&)’ 115 | auto view = xt::masked_view(wz, xt::fabs(vx) / xt::fabs(wz) < min_turning_r_); | ~~~~~~~~^~~~ In file included from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/xtensor/xmath.hpp:444:17: note: candidate: ‘template xt::detail::xfunction_type_t xt::fabs(E&&)’ 444 | inline auto fabs(E&& e) noexcept | ^~~~ /usr/include/xtensor/xmath.hpp:444:17: note: template argument deduction/substitution failed: In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/char_traits.h:39, from /usr/include/c++/11.4.0/string:40, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/c++/11.4.0/type_traits: In substitution of ‘template using enable_if_t = typename std::enable_if::type [with bool _Cond = false; _Tp = xt::detail::xfunction_type]’: /usr/include/xtensor/xoperation.hpp:211:15: required by substitution of ‘template using xfunction_type_t = typename std::enable_if::type>::type>...>::value, xt::detail::xfunction_type >::type::type [with F = xt::math::fabs_fun; E = {int&}]’ /usr/include/xtensor/xmath.hpp:444:17: required by substitution of ‘template xt::detail::xfunction_type_t xt::fabs(E&&) [with E = int&]’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:115:45: required from here /usr/include/c++/11.4.0/type_traits:2579:11: error: no type named ‘type’ in ‘struct std::enable_if >’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:27, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:115:60: error: no matching function for call to ‘fabs(int&)’ 115 | auto view = xt::masked_view(wz, xt::fabs(vx) / xt::fabs(wz) < min_turning_r_); | ~~~~~~~~^~~~ In file included from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/xtensor/xmath.hpp:444:17: note: candidate: ‘template xt::detail::xfunction_type_t xt::fabs(E&&)’ 444 | inline auto fabs(E&& e) noexcept | ^~~~ /usr/include/xtensor/xmath.hpp:444:17: note: template argument deduction/substitution failed: In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:27, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:116:20: error: no matching function for call to ‘sign(int&)’ 116 | view = xt::sign(wz) * vx / min_turning_r_; | ~~~~~~~~^~~~ In file included from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/xtensor/xmath.hpp:851:17: note: candidate: ‘template xt::detail::xfunction_type_t xt::sign(E&&)’ 851 | inline auto sign(E&& e) noexcept | ^~~~ /usr/include/xtensor/xmath.hpp:851:17: note: template argument deduction/substitution failed: In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/char_traits.h:39, from /usr/include/c++/11.4.0/string:40, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/c++/11.4.0/type_traits: In substitution of ‘template using enable_if_t = typename std::enable_if::type [with bool _Cond = false; _Tp = xt::detail::xfunction_type]’: /usr/include/xtensor/xoperation.hpp:211:15: required by substitution of ‘template using xfunction_type_t = typename std::enable_if::type>::type>...>::value, xt::detail::xfunction_type >::type::type [with F = xt::math::sign_fun; E = {int&}]’ /usr/include/xtensor/xmath.hpp:851:17: required by substitution of ‘template xt::detail::xfunction_type_t xt::sign(E&&) [with E = int&]’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:116:20: required from here /usr/include/c++/11.4.0/type_traits:2579:11: error: no type named ‘type’ in ‘struct std::enable_if >’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp: At global scope: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:44:23: error: template argument 4 is invalid 44 | xt::xtensor & costs; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp: In member function ‘void mppi::models::Path::reset(unsigned int)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp:38:25: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 38 | x = xt::zeros({size}); | ~~~~~~~~~~~~~~~~^~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp:39:25: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 39 | y = xt::zeros({size}); | ~~~~~~~~~~~~~~~~^~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp:40:28: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 40 | yaws = xt::zeros({size}); | ~~~~~~~~~~~~~~~~^~~~~~~~ | | | xt::xbroadcast, std::array > In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:27, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp: At global scope: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:38:23: error: template argument 4 is invalid 38 | xt::xtensor vx; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:39:23: error: template argument 4 is invalid 39 | xt::xtensor vy; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:40:23: error: template argument 4 is invalid 40 | xt::xtensor wz; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp: In member function ‘void mppi::models::ControlSequence::reset(unsigned int)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:44:26: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 44 | vx = xt::zeros({time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:45:26: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 45 | vy = xt::zeros({time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:46:26: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 46 | wz = xt::zeros({time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘mppi::models::Path mppi::utils::toTensor(const Path&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:186:13: error: expression cannot be used as a function 186 | result.x(i) = path.poses[i].pose.position.x; | ~~~~~~~~^~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:187:13: error: expression cannot be used as a function 187 | result.y(i) = path.poses[i].pose.position.y; | ~~~~~~~~^~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:188:16: error: expression cannot be used as a function 188 | result.yaws(i) = tf2::getYaw(path.poses[i].pose.orientation); | ~~~~~~~~~~~^~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘bool mppi::utils::withinPositionGoalTolerance(nav2_core::GoalChecker*, const Pose&, const mppi::models::Path&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:206:32: error: request for member ‘shape’ in ‘path.mppi::models::Path::x’, which is of non-class type ‘const int’ 206 | const auto goal_idx = path.x.shape(0) - 1; | ^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:207:29: error: expression cannot be used as a function 207 | const auto goal_x = path.x(goal_idx); | ~~~~~~^~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:208:29: error: expression cannot be used as a function 208 | const auto goal_y = path.y(goal_idx); | ~~~~~~^~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘bool mppi::utils::withinPositionGoalTolerance(float, const Pose&, const mppi::models::Path&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:242:32: error: request for member ‘shape’ in ‘path.mppi::models::Path::x’, which is of non-class type ‘const int’ 242 | const auto goal_idx = path.x.shape(0) - 1; | ^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:243:29: error: expression cannot be used as a function 243 | const auto goal_x = path.x(goal_idx); | ~~~~~~^~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:244:29: error: expression cannot be used as a function 244 | const auto goal_y = path.y(goal_idx); | ~~~~~~^~~~~~~~~~ In file included from /usr/include/xtensor/xstrided_view_base.hpp:19, from /usr/include/xtensor/xstrided_view.hpp:27, from /usr/include/xtensor/xgenerator.hpp:27, from /usr/include/xtensor/xbuilder.hpp:31, from /usr/include/xtensor/xmanipulation.hpp:13, from /usr/include/xtensor/xmath.hpp:28, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /usr/include/xtensor/xslice.hpp: In instantiation of ‘auto xt::detail::slice_implementation_getter::operator()(E&, SL&&, std::size_t) const [with E = const int; SL = xt::xall_tag; std::size_t = long unsigned int]’: /usr/include/xtensor/xslice.hpp:977:22: required from ‘auto xt::get_slice_implementation(E&, SL&&, std::size_t) [with E = const int; SL = xt::xall_tag; std::size_t = long unsigned int]’ /usr/include/xtensor/xview.hpp:1775:41: required from ‘auto xt::detail::make_view_impl(E&&, std::index_sequence<__indices ...>, S&& ...) [with E = const int&; long unsigned int ...I = {0, 1, 2}; S = {xt::xall_tag, int, xt::xnewaxis_tag}; std::index_sequence<__indices ...> = std::integer_sequence]’ /usr/include/xtensor/xview.hpp:1792:38: required from ‘auto xt::view(E&&, S&& ...) [with E = const int&; S = {xt::xall_tag, int, xt::xnewaxis_tag}]’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:303:31: required from here /usr/include/xtensor/xslice.hpp:948:24: error: ‘const int’ is not a class, struct, or union type 948 | return xall(e.shape()[index]); | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xslice.hpp:948:54: error: request for member ‘shape’ in ‘e’, which is of non-class type ‘const int’ 948 | return xall(e.shape()[index]); | ~~^~~~~ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘size_t mppi::utils::findPathTrajectoryInitialPoint(const mppi::CriticData&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:339:52: error: expression cannot be used as a function 339 | const auto dx = data.path.x - data.trajectories.x(0, 0); | ~~~~~~~~~~~~~~~~~~~^~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:340:52: error: expression cannot be used as a function 340 | const auto dy = data.path.y - data.trajectories.y(0, 0); | ~~~~~~~~~~~~~~~~~~~^~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘void mppi::utils::findPathCosts(mppi::CriticData&, std::shared_ptr)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:376:50: error: request for member ‘shape’ in ‘data.mppi::CriticData::path.mppi::models::Path::x’, which is of non-class type ‘const int’ 376 | const size_t path_segments_count = data.path.x.shape(0) - 1; | ^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:379:36: error: expression cannot be used as a function 379 | const auto path_x = data.path.x(idx); | ~~~~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:380:36: error: expression cannot be used as a function 380 | const auto path_y = data.path.y(idx); | ~~~~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘void mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:457:19: error: template argument 3 is invalid 457 | xt::xarray filter = {-21.0, 14.0, 39.0, 54.0, 59.0, 54.0, 39.0, 14.0, -21.0}; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:457:19: error: template argument 4 is invalid /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:457:21: error: scalar object ‘filter’ requires one element in initializer 457 | xt::xarray filter = {-21.0, 14.0, 39.0, 54.0, 59.0, 54.0, 39.0, 14.0, -21.0}; | ^~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:460:58: error: request for member ‘shape’ in ‘control_sequence.mppi::models::ControlSequence::vx’, which is of non-class type ‘int’ 460 | const unsigned int num_sequences = control_sequence.vx.shape(0) - 1; | ^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:48: error: template argument 3 is invalid 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:48: error: template argument 4 is invalid /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:472:29: error: template argument 4 is invalid 472 | [&](xt::xtensor & sequence, | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In lambda function: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:476:15: error: expression cannot be used as a function 476 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:482:17: error: expression cannot be used as a function 482 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:483:17: error: expression cannot be used as a function 483 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:484:17: error: expression cannot be used as a function 484 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:485:17: error: expression cannot be used as a function 485 | sequence(idx + 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:486:17: error: expression cannot be used as a function 486 | sequence(idx + 4)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:476:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 476 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 477 | { | ~ 478 | hist_0, | ~~~~~~~ 479 | hist_1, | ~~~~~~~ 480 | hist_2, | ~~~~~~~ 481 | hist_3, | ~~~~~~~ 482 | sequence(idx), | ~~~~~~~~~~~~~~ 483 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 484 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 485 | sequence(idx + 3), | ~~~~~~~~~~~~~~~~~~ 486 | sequence(idx + 4)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:489:15: error: expression cannot be used as a function 489 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:494:17: error: expression cannot be used as a function 494 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:495:17: error: expression cannot be used as a function 495 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:496:17: error: expression cannot be used as a function 496 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:497:17: error: expression cannot be used as a function 497 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:498:17: error: expression cannot be used as a function 498 | sequence(idx + 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:499:17: error: expression cannot be used as a function 499 | sequence(idx + 4)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:489:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 489 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 490 | { | ~ 491 | hist_1, | ~~~~~~~ 492 | hist_2, | ~~~~~~~ 493 | hist_3, | ~~~~~~~ 494 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 495 | sequence(idx), | ~~~~~~~~~~~~~~ 496 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 497 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 498 | sequence(idx + 3), | ~~~~~~~~~~~~~~~~~~ 499 | sequence(idx + 4)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:502:15: error: expression cannot be used as a function 502 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:506:17: error: expression cannot be used as a function 506 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:507:17: error: expression cannot be used as a function 507 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:508:17: error: expression cannot be used as a function 508 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:509:17: error: expression cannot be used as a function 509 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:510:17: error: expression cannot be used as a function 510 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:511:17: error: expression cannot be used as a function 511 | sequence(idx + 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:512:17: error: expression cannot be used as a function 512 | sequence(idx + 4)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:502:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 502 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 503 | { | ~ 504 | hist_2, | ~~~~~~~ 505 | hist_3, | ~~~~~~~ 506 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 507 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 508 | sequence(idx), | ~~~~~~~~~~~~~~ 509 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 510 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 511 | sequence(idx + 3), | ~~~~~~~~~~~~~~~~~~ 512 | sequence(idx + 4)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:515:15: error: expression cannot be used as a function 515 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:518:17: error: expression cannot be used as a function 518 | sequence(idx - 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:519:17: error: expression cannot be used as a function 519 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:520:17: error: expression cannot be used as a function 520 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:521:17: error: expression cannot be used as a function 521 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:522:17: error: expression cannot be used as a function 522 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:523:17: error: expression cannot be used as a function 523 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:524:17: error: expression cannot be used as a function 524 | sequence(idx + 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:525:17: error: expression cannot be used as a function 525 | sequence(idx + 4)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:515:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 515 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 516 | { | ~ 517 | hist_3, | ~~~~~~~ 518 | sequence(idx - 3), | ~~~~~~~~~~~~~~~~~~ 519 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 520 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 521 | sequence(idx), | ~~~~~~~~~~~~~~ 522 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 523 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 524 | sequence(idx + 3), | ~~~~~~~~~~~~~~~~~~ 525 | sequence(idx + 4)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:528:17: error: expression cannot be used as a function 528 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:530:19: error: expression cannot be used as a function 530 | sequence(idx - 4), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:531:19: error: expression cannot be used as a function 531 | sequence(idx - 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:532:19: error: expression cannot be used as a function 532 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:533:19: error: expression cannot be used as a function 533 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:534:19: error: expression cannot be used as a function 534 | sequence(idx), | ~~~~~~~~^~~~~ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:23, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:27, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /usr/include/xtensor/xmasked_view.hpp: At global scope: /usr/include/xtensor/xmasked_view.hpp:51:84: error: template argument 3 is invalid 51 | using temporary_type = xarray>; | ^~ /usr/include/xtensor/xmasked_view.hpp:51:84: error: template argument 4 is invalid /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:535:19: error: expression cannot be used as a function 535 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:536:19: error: expression cannot be used as a function 536 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:537:19: error: expression cannot be used as a function 537 | sequence(idx + 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:538:19: error: expression cannot be used as a function 538 | sequence(idx + 4)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:528:36: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 528 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 529 | { | ~ 530 | sequence(idx - 4), | ~~~~~~~~~~~~~~~~~~ 531 | sequence(idx - 3), | ~~~~~~~~~~~~~~~~~~ 532 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 533 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 534 | sequence(idx), | ~~~~~~~~~~~~~~ 535 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 536 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 537 | sequence(idx + 3), | ~~~~~~~~~~~~~~~~~~ 538 | sequence(idx + 4)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:542:15: error: expression cannot be used as a function 542 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:544:17: error: expression cannot be used as a function 544 | sequence(idx - 4), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:545:17: error: expression cannot be used as a function 545 | sequence(idx - 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:546:17: error: expression cannot be used as a function 546 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:547:17: error: expression cannot be used as a function 547 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:548:17: error: expression cannot be used as a function 548 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:549:17: error: expression cannot be used as a function 549 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:550:17: error: expression cannot be used as a function 550 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:551:17: error: expression cannot be used as a function 551 | sequence(idx + 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:552:17: error: expression cannot be used as a function 552 | sequence(idx + 3)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:542:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 542 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 543 | { | ~ 544 | sequence(idx - 4), | ~~~~~~~~~~~~~~~~~~ 545 | sequence(idx - 3), | ~~~~~~~~~~~~~~~~~~ 546 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 547 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 548 | sequence(idx), | ~~~~~~~~~~~~~~ 549 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 550 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 551 | sequence(idx + 3), | ~~~~~~~~~~~~~~~~~~ 552 | sequence(idx + 3)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:555:15: error: expression cannot be used as a function 555 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:557:17: error: expression cannot be used as a function 557 | sequence(idx - 4), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:558:17: error: expression cannot be used as a function 558 | sequence(idx - 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:559:17: error: expression cannot be used as a function 559 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:560:17: error: expression cannot be used as a function 560 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:561:17: error: expression cannot be used as a function 561 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:562:17: error: expression cannot be used as a function 562 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:563:17: error: expression cannot be used as a function 563 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:564:17: error: expression cannot be used as a function 564 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:565:17: error: expression cannot be used as a function 565 | sequence(idx + 2)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:555:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 555 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 556 | { | ~ 557 | sequence(idx - 4), | ~~~~~~~~~~~~~~~~~~ 558 | sequence(idx - 3), | ~~~~~~~~~~~~~~~~~~ 559 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 560 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 561 | sequence(idx), | ~~~~~~~~~~~~~~ 562 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 563 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 564 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 565 | sequence(idx + 2)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:568:15: error: expression cannot be used as a function 568 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:570:17: error: expression cannot be used as a function 570 | sequence(idx - 4), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:571:17: error: expression cannot be used as a function 571 | sequence(idx - 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:572:17: error: expression cannot be used as a function 572 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:573:17: error: expression cannot be used as a function 573 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:574:17: error: expression cannot be used as a function 574 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:575:17: error: expression cannot be used as a function 575 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:576:17: error: expression cannot be used as a function 576 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:577:17: error: expression cannot be used as a function 577 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:578:17: error: expression cannot be used as a function 578 | sequence(idx + 1)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:568:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 568 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 569 | { | ~ 570 | sequence(idx - 4), | ~~~~~~~~~~~~~~~~~~ 571 | sequence(idx - 3), | ~~~~~~~~~~~~~~~~~~ 572 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 573 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 574 | sequence(idx), | ~~~~~~~~~~~~~~ 575 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 576 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 577 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 578 | sequence(idx + 1)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:581:15: error: expression cannot be used as a function 581 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:583:17: error: expression cannot be used as a function 583 | sequence(idx - 4), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:584:17: error: expression cannot be used as a function 584 | sequence(idx - 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:585:17: error: expression cannot be used as a function 585 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:586:17: error: expression cannot be used as a function 586 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:587:17: error: expression cannot be used as a function 587 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:588:17: error: expression cannot be used as a function 588 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:589:17: error: expression cannot be used as a function 589 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:590:17: error: expression cannot be used as a function 590 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:591:17: error: expression cannot be used as a function 591 | sequence(idx)}); | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:581:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 581 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 582 | { | ~ 583 | sequence(idx - 4), | ~~~~~~~~~~~~~~~~~~ 584 | sequence(idx - 3), | ~~~~~~~~~~~~~~~~~~ 585 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 586 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 587 | sequence(idx), | ~~~~~~~~~~~~~~ 588 | sequence(idx), | ~~~~~~~~~~~~~~ 589 | sequence(idx), | ~~~~~~~~~~~~~~ 590 | sequence(idx), | ~~~~~~~~~~~~~~ 591 | sequence(idx)}); | ~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘void mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:611:24: error: expression cannot be used as a function 611 | control_sequence.vx(offset), | ~~~~~~~~~~~~~~~~~~~^~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:612:24: error: expression cannot be used as a function 612 | control_sequence.vy(offset), | ~~~~~~~~~~~~~~~~~~~^~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:613:24: error: expression cannot be used as a function 613 | control_sequence.wz(offset)}; | ~~~~~~~~~~~~~~~~~~~^~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:613:32: error: no match for ‘operator=’ (operand types are ‘std::array::value_type’ {aka ‘mppi::models::Control’} and ‘’) 613 | control_sequence.wz(offset)}; | ^ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:27, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/obstacles_critic.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:16: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:27:8: note: candidate: ‘constexpr mppi::models::Control& mppi::models::Control::operator=(const mppi::models::Control&)’ 27 | struct Control | ^~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:27:8: note: no known conversion for argument 1 from ‘’ to ‘const mppi::models::Control&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:27:8: note: candidate: ‘constexpr mppi::models::Control& mppi::models::Control::operator=(mppi::models::Control&&)’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:27:8: note: no known conversion for argument 1 from ‘’ to ‘mppi::models::Control&&’ In file included from /usr/include/xtensor/xstrided_view_base.hpp:19, from /usr/include/xtensor/xstrided_view.hpp:27, from /usr/include/xtensor/xgenerator.hpp:27, from /usr/include/xtensor/xbuilder.hpp:31, from /usr/include/xtensor/xmanipulation.hpp:13, from /usr/include/xtensor/xmath.hpp:28, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /usr/include/xtensor/xslice.hpp: In instantiation of ‘struct xt::detail::get_slice_type_impl’: /usr/include/xtensor/xview.hpp:1773:19: required from ‘auto xt::detail::make_view_impl(E&&, std::index_sequence<__indices ...>, S&& ...) [with E = int&; long unsigned int ...I = {0, 1}; S = {xt::xall_tag, xt::xrange_adaptor}; std::index_sequence<__indices ...> = std::integer_sequence]’ /usr/include/xtensor/xview.hpp:1792:38: required from ‘auto xt::view(E&&, S&& ...) [with E = int&; S = {xt::xall_tag, xt::xrange_adaptor}]’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:56:25: required from here /usr/include/xtensor/xslice.hpp:995:19: error: ‘int’ is not a class, struct, or union type 995 | using type = xall; | ^~~~ /usr/include/xtensor/xslice.hpp: In instantiation of ‘auto xt::detail::slice_implementation_getter::operator()(E&, SL&&, std::size_t) const [with E = int; SL = xt::xall_tag; std::size_t = long unsigned int]’: /usr/include/xtensor/xslice.hpp:977:22: required from ‘auto xt::get_slice_implementation(E&, SL&&, std::size_t) [with E = int; SL = xt::xall_tag; std::size_t = long unsigned int]’ /usr/include/xtensor/xview.hpp:1775:41: required from ‘auto xt::detail::make_view_impl(E&&, std::index_sequence<__indices ...>, S&& ...) [with E = int&; long unsigned int ...I = {0, 1}; S = {xt::xall_tag, xt::xrange_adaptor}; std::index_sequence<__indices ...> = std::integer_sequence]’ /usr/include/xtensor/xview.hpp:1792:38: required from ‘auto xt::view(E&&, S&& ...) [with E = int&; S = {xt::xall_tag, xt::xrange_adaptor}]’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:56:25: required from here /usr/include/xtensor/xslice.hpp:948:24: error: ‘int’ is not a class, struct, or union type 948 | return xall(e.shape()[index]); | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xslice.hpp:948:54: error: request for member ‘shape’ in ‘e’, which is of non-class type ‘int’ 948 | return xall(e.shape()[index]); | ~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp: In member function ‘virtual void mppi::critics::ObstaclesCritic::score(mppi::CriticData&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:132:42: error: template argument 4 is invalid 132 | auto && raw_cost = xt::xtensor::from_shape({data.costs.shape(0)}); | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:132:68: error: request for member ‘shape’ in ‘data.mppi::CriticData::costs’, which is of non-class type ‘int’ 132 | auto && raw_cost = xt::xtensor::from_shape({data.costs.shape(0)}); | ^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:134:48: error: template argument 4 is invalid 134 | auto && repulsive_cost = xt::xtensor::from_shape({data.costs.shape(0)}); | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:134:74: error: request for member ‘shape’ in ‘data.mppi::CriticData::costs’, which is of non-class type ‘int’ 134 | auto && repulsive_cost = xt::xtensor::from_shape({data.costs.shape(0)}); | ^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:137:47: error: request for member ‘shape’ in ‘data.mppi::CriticData::trajectories.mppi::models::Trajectories::x’, which is of non-class type ‘const int’ 137 | const size_t traj_len = data.trajectories.x.shape(1); | ^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:139:46: error: request for member ‘shape’ in ‘data.mppi::CriticData::trajectories.mppi::models::Trajectories::x’, which is of non-class type ‘const int’ 139 | for (size_t i = 0; i < data.trajectories.x.shape(0); ++i) { | ^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:146:36: error: expression cannot be used as a function 146 | pose_cost = costAtPose(traj.x(i, j), traj.y(i, j), traj.yaws(i, j)); | ~~~~~~^~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:146:50: error: expression cannot be used as a function 146 | pose_cost = costAtPose(traj.x(i, j), traj.y(i, j), traj.yaws(i, j)); | ~~~~~~^~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/obstacles_critic.cpp:146:67: error: expression cannot be used as a function 146 | pose_cost = costAtPose(traj.x(i, j), traj.y(i, j), traj.yaws(i, j)); | ~~~~~~~~~^~~~~~ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:27, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp: In member function ‘virtual void mppi::AckermannMotionModel::applyConstraints(mppi::models::ControlSequence&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:115:45: error: no matching function for call to ‘fabs(int&)’ 115 | auto view = xt::masked_view(wz, xt::fabs(vx) / xt::fabs(wz) < min_turning_r_); | ~~~~~~~~^~~~ In file included from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /usr/include/xtensor/xmath.hpp:444:17: note: candidate: ‘template xt::detail::xfunction_type_t xt::fabs(E&&)’ 444 | inline auto fabs(E&& e) noexcept | ^~~~ /usr/include/xtensor/xmath.hpp:444:17: note: template argument deduction/substitution failed: In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/specfun.h:45, from /usr/include/c++/11.4.0/cmath:1935, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:16: /usr/include/c++/11.4.0/type_traits: In substitution of ‘template using enable_if_t = typename std::enable_if::type [with bool _Cond = false; _Tp = xt::detail::xfunction_type]’: /usr/include/xtensor/xoperation.hpp:211:15: required by substitution of ‘template using xfunction_type_t = typename std::enable_if::type>::type>...>::value, xt::detail::xfunction_type >::type::type [with F = xt::math::fabs_fun; E = {int&}]’ /usr/include/xtensor/xmath.hpp:444:17: required by substitution of ‘template xt::detail::xfunction_type_t xt::fabs(E&&) [with E = int&]’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:115:45: required from here /usr/include/c++/11.4.0/type_traits:2579:11: error: no type named ‘type’ in ‘struct std::enable_if >’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:27, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:115:60: error: no matching function for call to ‘fabs(int&)’ 115 | auto view = xt::masked_view(wz, xt::fabs(vx) / xt::fabs(wz) < min_turning_r_); | ~~~~~~~~^~~~ In file included from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /usr/include/xtensor/xmath.hpp:444:17: note: candidate: ‘template xt::detail::xfunction_type_t xt::fabs(E&&)’ 444 | inline auto fabs(E&& e) noexcept | ^~~~ /usr/include/xtensor/xmath.hpp:444:17: note: template argument deduction/substitution failed: In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:27, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:116:20: error: no matching function for call to ‘sign(int&)’ 116 | view = xt::sign(wz) * vx / min_turning_r_; | ~~~~~~~~^~~~ In file included from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /usr/include/xtensor/xmath.hpp:851:17: note: candidate: ‘template xt::detail::xfunction_type_t xt::sign(E&&)’ 851 | inline auto sign(E&& e) noexcept | ^~~~ /usr/include/xtensor/xmath.hpp:851:17: note: template argument deduction/substitution failed: In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/specfun.h:45, from /usr/include/c++/11.4.0/cmath:1935, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:16: /usr/include/c++/11.4.0/type_traits: In substitution of ‘template using enable_if_t = typename std::enable_if::type [with bool _Cond = false; _Tp = xt::detail::xfunction_type]’: /usr/include/xtensor/xoperation.hpp:211:15: required by substitution of ‘template using xfunction_type_t = typename std::enable_if::type>::type>...>::value, xt::detail::xfunction_type >::type::type [with F = xt::math::sign_fun; E = {int&}]’ /usr/include/xtensor/xmath.hpp:851:17: required by substitution of ‘template xt::detail::xfunction_type_t xt::sign(E&&) [with E = int&]’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:116:20: required from here /usr/include/c++/11.4.0/type_traits:2579:11: error: no type named ‘type’ in ‘struct std::enable_if >’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp: At global scope: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:44:23: error: template argument 4 is invalid 44 | xt::xtensor & costs; | ^ In file included from /usr/include/xtensor/xgenerator.hpp:27, from /usr/include/xtensor/xbuilder.hpp:31, from /usr/include/xtensor/xmanipulation.hpp:13, from /usr/include/xtensor/xmath.hpp:28, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /usr/include/xtensor/xstrided_view.hpp: In member function ‘xt::xstrided_view::enable_simd_interface xt::xstrided_view::store_simd(xt::xstrided_view::size_type, const simd&)’: /usr/include/xtensor/xstrided_view.hpp:619:18: error: ‘store_simd’ is not a member of ‘xt_simd’ 619 | xt_simd::store_simd(&(storage()[i]), e, align_mode()); | ^~~~~~~~~~ /usr/include/xtensor/xstrided_view.hpp:619:39: error: expected primary-expression before ‘,’ token 619 | xt_simd::store_simd(&(storage()[i]), e, align_mode()); | ^ /usr/include/xtensor/xstrided_view.hpp:619:66: error: expected ‘(’ before ‘>’ token 619 | xt_simd::store_simd(&(storage()[i]), e, align_mode()); | ^ | ( /usr/include/xtensor/xstrided_view.hpp: In member function ‘xt::xstrided_view::enable_simd_interface >::value_type, requested_type, xsimd::neon64>::type> xt::xstrided_view::load_simd(xt::xstrided_view::size_type) const’: /usr/include/xtensor/xstrided_view.hpp:628:25: error: ‘load_simd’ is not a member of ‘xt_simd’ 628 | return xt_simd::load_simd(&(storage()[i]), align_mode()); | ^~~~~~~~~ /usr/include/xtensor/xstrided_view.hpp:628:45: error: expected primary-expression before ‘,’ token 628 | return xt_simd::load_simd(&(storage()[i]), align_mode()); | ^ /usr/include/xtensor/xstrided_view.hpp:628:61: error: expected primary-expression before ‘>’ token 628 | return xt_simd::load_simd(&(storage()[i]), align_mode()); | ^ In file included from /usr/include/xtensor/xmanipulation.hpp:13, from /usr/include/xtensor/xmath.hpp:28, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /usr/include/xtensor/xbuilder.hpp: At global scope: /usr/include/xtensor/xbuilder.hpp:89:23: error: template argument 3 is invalid 89 | inline xarray empty(const S& shape) | ^ /usr/include/xtensor/xbuilder.hpp:89:23: error: template argument 4 is invalid /usr/include/xtensor/xbuilder.hpp: In function ‘int xt::empty(const S&)’: /usr/include/xtensor/xbuilder.hpp:91:27: error: template argument 3 is invalid 91 | return xarray::from_shape(shape); | ^ /usr/include/xtensor/xbuilder.hpp:91:27: error: template argument 4 is invalid /usr/include/xtensor/xbuilder.hpp: At global scope: /usr/include/xtensor/xbuilder.hpp:95:27: error: template argument 4 is invalid 95 | inline xtensor empty(const std::array& shape) | ^ /usr/include/xtensor/xbuilder.hpp: In function ‘int xt::empty(const std::array&)’: /usr/include/xtensor/xbuilder.hpp:97:49: error: template argument 4 is invalid 97 | using shape_type = typename xtensor::shape_type; | ^ /usr/include/xtensor/xbuilder.hpp:98:31: error: template argument 4 is invalid 98 | return xtensor(xtl::forward_sequence(shape)); | ^ /usr/include/xtensor/xbuilder.hpp:98:55: error: ‘shape_type’ was not declared in this scope 98 | return xtensor(xtl::forward_sequence(shape)); | ^~~~~~~~~~ /usr/include/xtensor/xbuilder.hpp: At global scope: /usr/include/xtensor/xbuilder.hpp:102:27: error: template argument 4 is invalid 102 | inline xtensor empty(const I(&shape)[N]) | ^ /usr/include/xtensor/xbuilder.hpp: In function ‘int xt::empty(const I (&)[N])’: /usr/include/xtensor/xbuilder.hpp:104:49: error: template argument 4 is invalid 104 | using shape_type = typename xtensor::shape_type; | ^ /usr/include/xtensor/xbuilder.hpp:105:31: error: template argument 4 is invalid 105 | return xtensor(xtl::forward_sequence(shape)); | ^ /usr/include/xtensor/xbuilder.hpp:105:55: error: ‘shape_type’ was not declared in this scope 105 | return xtensor(xtl::forward_sequence(shape)); | ^~~~~~~~~~ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:26, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘mppi::models::Path mppi::utils::toTensor(const Path&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:186:13: error: expression cannot be used as a function 186 | result.x(i) = path.poses[i].pose.position.x; | ~~~~~~~~^~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:187:13: error: expression cannot be used as a function 187 | result.y(i) = path.poses[i].pose.position.y; | ~~~~~~~~^~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:188:16: error: expression cannot be used as a function 188 | result.yaws(i) = tf2::getYaw(path.poses[i].pose.orientation); | ~~~~~~~~~~~^~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘bool mppi::utils::withinPositionGoalTolerance(nav2_core::GoalChecker*, const Pose&, const mppi::models::Path&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:206:32: error: request for member ‘shape’ in ‘path.mppi::models::Path::x’, which is of non-class type ‘const int’ 206 | const auto goal_idx = path.x.shape(0) - 1; | ^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:207:29: error: expression cannot be used as a function 207 | const auto goal_x = path.x(goal_idx); | ~~~~~~^~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:208:29: error: expression cannot be used as a function 208 | const auto goal_y = path.y(goal_idx); | ~~~~~~^~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘bool mppi::utils::withinPositionGoalTolerance(float, const Pose&, const mppi::models::Path&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:242:32: error: request for member ‘shape’ in ‘path.mppi::models::Path::x’, which is of non-class type ‘const int’ 242 | const auto goal_idx = path.x.shape(0) - 1; | ^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:243:29: error: expression cannot be used as a function 243 | const auto goal_x = path.x(goal_idx); | ~~~~~~^~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:244:29: error: expression cannot be used as a function 244 | const auto goal_y = path.y(goal_idx); | ~~~~~~^~~~~~~~~~ In file included from /usr/include/xtensor/xstrided_view_base.hpp:19, from /usr/include/xtensor/xstrided_view.hpp:27, from /usr/include/xtensor/xgenerator.hpp:27, from /usr/include/xtensor/xbuilder.hpp:31, from /usr/include/xtensor/xmanipulation.hpp:13, from /usr/include/xtensor/xmath.hpp:28, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /usr/include/xtensor/xslice.hpp: In instantiation of ‘auto xt::detail::slice_implementation_getter::operator()(E&, SL&&, std::size_t) const [with E = const int; SL = xt::xall_tag; std::size_t = long unsigned int]’: /usr/include/xtensor/xslice.hpp:977:22: required from ‘auto xt::get_slice_implementation(E&, SL&&, std::size_t) [with E = const int; SL = xt::xall_tag; std::size_t = long unsigned int]’ /usr/include/xtensor/xview.hpp:1775:41: required from ‘auto xt::detail::make_view_impl(E&&, std::index_sequence<__indices ...>, S&& ...) [with E = const int&; long unsigned int ...I = {0, 1, 2}; S = {xt::xall_tag, int, xt::xnewaxis_tag}; std::index_sequence<__indices ...> = std::integer_sequence]’ /usr/include/xtensor/xview.hpp:1792:38: required from ‘auto xt::view(E&&, S&& ...) [with E = const int&; S = {xt::xall_tag, int, xt::xnewaxis_tag}]’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:303:31: required from here /usr/include/xtensor/xslice.hpp:948:24: error: ‘const int’ is not a class, struct, or union type 948 | return xall(e.shape()[index]); | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xslice.hpp:948:54: error: request for member ‘shape’ in ‘e’, which is of non-class type ‘const int’ 948 | return xall(e.shape()[index]); | ~~^~~~~ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:26, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘size_t mppi::utils::findPathTrajectoryInitialPoint(const mppi::CriticData&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:339:52: error: expression cannot be used as a function 339 | const auto dx = data.path.x - data.trajectories.x(0, 0); | ~~~~~~~~~~~~~~~~~~~^~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:340:52: error: expression cannot be used as a function 340 | const auto dy = data.path.y - data.trajectories.y(0, 0); | ~~~~~~~~~~~~~~~~~~~^~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘void mppi::utils::findPathCosts(mppi::CriticData&, std::shared_ptr)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:376:50: error: request for member ‘shape’ in ‘data.mppi::CriticData::path.mppi::models::Path::x’, which is of non-class type ‘const int’ 376 | const size_t path_segments_count = data.path.x.shape(0) - 1; | ^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:379:36: error: expression cannot be used as a function 379 | const auto path_x = data.path.x(idx); | ~~~~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:380:36: error: expression cannot be used as a function 380 | const auto path_y = data.path.y(idx); | ~~~~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘void mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:457:19: error: template argument 3 is invalid 457 | xt::xarray filter = {-21.0, 14.0, 39.0, 54.0, 59.0, 54.0, 39.0, 14.0, -21.0}; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:457:19: error: template argument 4 is invalid /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:457:21: error: scalar object ‘filter’ requires one element in initializer 457 | xt::xarray filter = {-21.0, 14.0, 39.0, 54.0, 59.0, 54.0, 39.0, 14.0, -21.0}; | ^~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:460:58: error: request for member ‘shape’ in ‘control_sequence.mppi::models::ControlSequence::vx’, which is of non-class type ‘int’ 460 | const unsigned int num_sequences = control_sequence.vx.shape(0) - 1; | ^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:48: error: template argument 3 is invalid 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:48: error: template argument 4 is invalid /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:472:29: error: template argument 4 is invalid 472 | [&](xt::xtensor & sequence, | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In lambda function: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:476:15: error: expression cannot be used as a function 476 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:482:17: error: expression cannot be used as a function 482 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:483:17: error: expression cannot be used as a function 483 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:484:17: error: expression cannot be used as a function 484 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:485:17: error: expression cannot be used as a function 485 | sequence(idx + 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:486:17: error: expression cannot be used as a function 486 | sequence(idx + 4)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:476:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 476 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 477 | { | ~ 478 | hist_0, | ~~~~~~~ 479 | hist_1, | ~~~~~~~ 480 | hist_2, | ~~~~~~~ 481 | hist_3, | ~~~~~~~ 482 | sequence(idx), | ~~~~~~~~~~~~~~ 483 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 484 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 485 | sequence(idx + 3), | ~~~~~~~~~~~~~~~~~~ 486 | sequence(idx + 4)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:489:15: error: expression cannot be used as a function 489 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:494:17: error: expression cannot be used as a function 494 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:495:17: error: expression cannot be used as a function 495 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:496:17: error: expression cannot be used as a function 496 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:497:17: error: expression cannot be used as a function 497 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:498:17: error: expression cannot be used as a function 498 | sequence(idx + 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:499:17: error: expression cannot be used as a function 499 | sequence(idx + 4)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:489:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 489 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 490 | { | ~ 491 | hist_1, | ~~~~~~~ 492 | hist_2, | ~~~~~~~ 493 | hist_3, | ~~~~~~~ 494 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 495 | sequence(idx), | ~~~~~~~~~~~~~~ 496 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 497 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 498 | sequence(idx + 3), | ~~~~~~~~~~~~~~~~~~ 499 | sequence(idx + 4)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:502:15: error: expression cannot be used as a function 502 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:506:17: error: expression cannot be used as a function 506 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:507:17: error: expression cannot be used as a function 507 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:508:17: error: expression cannot be used as a function 508 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:509:17: error: expression cannot be used as a function 509 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:510:17: error: expression cannot be used as a function 510 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:511:17: error: expression cannot be used as a function 511 | sequence(idx + 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:512:17: error: expression cannot be used as a function 512 | sequence(idx + 4)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:502:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 502 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 503 | { | ~ 504 | hist_2, | ~~~~~~~ 505 | hist_3, | ~~~~~~~ 506 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 507 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 508 | sequence(idx), | ~~~~~~~~~~~~~~ 509 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 510 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 511 | sequence(idx + 3), | ~~~~~~~~~~~~~~~~~~ 512 | sequence(idx + 4)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:515:15: error: expression cannot be used as a function 515 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:518:17: error: expression cannot be used as a function 518 | sequence(idx - 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:519:17: error: expression cannot be used as a function 519 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:520:17: error: expression cannot be used as a function 520 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:521:17: error: expression cannot be used as a function 521 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:522:17: error: expression cannot be used as a function 522 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:523:17: error: expression cannot be used as a function 523 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:524:17: error: expression cannot be used as a function 524 | sequence(idx + 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:525:17: error: expression cannot be used as a function 525 | sequence(idx + 4)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:515:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 515 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 516 | { | ~ 517 | hist_3, | ~~~~~~~ 518 | sequence(idx - 3), | ~~~~~~~~~~~~~~~~~~ 519 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 520 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 521 | sequence(idx), | ~~~~~~~~~~~~~~ 522 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 523 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 524 | sequence(idx + 3), | ~~~~~~~~~~~~~~~~~~ 525 | sequence(idx + 4)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:528:17: error: expression cannot be used as a function 528 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:530:19: error: expression cannot be used as a function 530 | sequence(idx - 4), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:531:19: error: expression cannot be used as a function 531 | sequence(idx - 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:532:19: error: expression cannot be used as a function 532 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:533:19: error: expression cannot be used as a function 533 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:534:19: error: expression cannot be used as a function 534 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:535:19: error: expression cannot be used as a function 535 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:536:19: error: expression cannot be used as a function 536 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:537:19: error: expression cannot be used as a function 537 | sequence(idx + 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:538:19: error: expression cannot be used as a function 538 | sequence(idx + 4)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:528:36: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 528 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 529 | { | ~ 530 | sequence(idx - 4), | ~~~~~~~~~~~~~~~~~~ 531 | sequence(idx - 3), | ~~~~~~~~~~~~~~~~~~ 532 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 533 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 534 | sequence(idx), | ~~~~~~~~~~~~~~ 535 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 536 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 537 | sequence(idx + 3), | ~~~~~~~~~~~~~~~~~~ 538 | sequence(idx + 4)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:542:15: error: expression cannot be used as a function 542 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:544:17: error: expression cannot be used as a function 544 | sequence(idx - 4), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:545:17: error: expression cannot be used as a function 545 | sequence(idx - 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:546:17: error: expression cannot be used as a function 546 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:547:17: error: expression cannot be used as a function 547 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:548:17: error: expression cannot be used as a function 548 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:549:17: error: expression cannot be used as a function 549 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:550:17: error: expression cannot be used as a function 550 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:551:17: error: expression cannot be used as a function 551 | sequence(idx + 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:552:17: error: expression cannot be used as a function 552 | sequence(idx + 3)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:542:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 542 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 543 | { | ~ 544 | sequence(idx - 4), | ~~~~~~~~~~~~~~~~~~ 545 | sequence(idx - 3), | ~~~~~~~~~~~~~~~~~~ 546 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 547 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 548 | sequence(idx), | ~~~~~~~~~~~~~~ 549 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 550 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 551 | sequence(idx + 3), | ~~~~~~~~~~~~~~~~~~ 552 | sequence(idx + 3)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:555:15: error: expression cannot be used as a function 555 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:557:17: error: expression cannot be used as a function 557 | sequence(idx - 4), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:558:17: error: expression cannot be used as a function 558 | sequence(idx - 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:559:17: error: expression cannot be used as a function 559 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:560:17: error: expression cannot be used as a function 560 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:561:17: error: expression cannot be used as a function 561 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:562:17: error: expression cannot be used as a function 562 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:563:17: error: expression cannot be used as a function 563 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:564:17: error: expression cannot be used as a function 564 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:565:17: error: expression cannot be used as a function 565 | sequence(idx + 2)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:555:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 555 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 556 | { | ~ 557 | sequence(idx - 4), | ~~~~~~~~~~~~~~~~~~ 558 | sequence(idx - 3), | ~~~~~~~~~~~~~~~~~~ 559 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 560 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 561 | sequence(idx), | ~~~~~~~~~~~~~~ 562 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 563 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 564 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 565 | sequence(idx + 2)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:568:15: error: expression cannot be used as a function 568 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:570:17: error: expression cannot be used as a function 570 | sequence(idx - 4), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:571:17: error: expression cannot be used as a function 571 | sequence(idx - 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:572:17: error: expression cannot be used as a function 572 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:573:17: error: expression cannot be used as a function 573 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:574:17: error: expression cannot be used as a function 574 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:575:17: error: expression cannot be used as a function 575 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:576:17: error: expression cannot be used as a function 576 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:577:17: error: expression cannot be used as a function 577 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:578:17: error: expression cannot be used as a function 578 | sequence(idx + 1)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:568:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 568 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 569 | { | ~ 570 | sequence(idx - 4), | ~~~~~~~~~~~~~~~~~~ 571 | sequence(idx - 3), | ~~~~~~~~~~~~~~~~~~ 572 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 573 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 574 | sequence(idx), | ~~~~~~~~~~~~~~ 575 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 576 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 577 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 578 | sequence(idx + 1)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:581:15: error: expression cannot be used as a function 581 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:583:17: error: expression cannot be used as a function 583 | sequence(idx - 4), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:584:17: error: expression cannot be used as a function 584 | sequence(idx - 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:585:17: error: expression cannot be used as a function 585 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:586:17: error: expression cannot be used as a function 586 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:587:17: error: expression cannot be used as a function 587 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:588:17: error: expression cannot be used as a function 588 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:589:17: error: expression cannot be used as a function 589 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:590:17: error: expression cannot be used as a function 590 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:591:17: error: expression cannot be used as a function 591 | sequence(idx)}); | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:581:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 581 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 582 | { | ~ 583 | sequence(idx - 4), | ~~~~~~~~~~~~~~~~~~ 584 | sequence(idx - 3), | ~~~~~~~~~~~~~~~~~~ 585 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 586 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 587 | sequence(idx), | ~~~~~~~~~~~~~~ 588 | sequence(idx), | ~~~~~~~~~~~~~~ 589 | sequence(idx), | ~~~~~~~~~~~~~~ 590 | sequence(idx), | ~~~~~~~~~~~~~~ 591 | sequence(idx)}); | ~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘void mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:611:24: error: expression cannot be used as a function 611 | control_sequence.vx(offset), | ~~~~~~~~~~~~~~~~~~~^~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:612:24: error: expression cannot be used as a function 612 | control_sequence.vy(offset), | ~~~~~~~~~~~~~~~~~~~^~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:613:24: error: expression cannot be used as a function 613 | control_sequence.wz(offset)}; | ~~~~~~~~~~~~~~~~~~~^~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:613:32: error: no match for ‘operator=’ (operand types are ‘std::array::value_type’ {aka ‘mppi::models::Control’} and ‘’) 613 | control_sequence.wz(offset)}; | ^ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:27, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/cost_critic.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:17: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:27:8: note: candidate: ‘constexpr mppi::models::Control& mppi::models::Control::operator=(const mppi::models::Control&)’ 27 | struct Control | ^~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:27:8: note: no known conversion for argument 1 from ‘’ to ‘const mppi::models::Control&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:27:8: note: candidate: ‘constexpr mppi::models::Control& mppi::models::Control::operator=(mppi::models::Control&&)’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:27:8: note: no known conversion for argument 1 from ‘’ to ‘mppi::models::Control&&’ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘mppi::models::Path mppi::utils::toTensor(const Path&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:186:13: error: expression cannot be used as a function 186 | result.x(i) = path.poses[i].pose.position.x; | ~~~~~~~~^~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:187:13: error: expression cannot be used as a function 187 | result.y(i) = path.poses[i].pose.position.y; | ~~~~~~~~^~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:188:16: error: expression cannot be used as a function 188 | result.yaws(i) = tf2::getYaw(path.poses[i].pose.orientation); | ~~~~~~~~~~~^~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘bool mppi::utils::withinPositionGoalTolerance(nav2_core::GoalChecker*, const Pose&, const mppi::models::Path&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:206:32: error: request for member ‘shape’ in ‘path.mppi::models::Path::x’, which is of non-class type ‘const int’ 206 | const auto goal_idx = path.x.shape(0) - 1; | ^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:207:29: error: expression cannot be used as a function 207 | const auto goal_x = path.x(goal_idx); | ~~~~~~^~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:208:29: error: expression cannot be used as a function 208 | const auto goal_y = path.y(goal_idx); | ~~~~~~^~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘bool mppi::utils::withinPositionGoalTolerance(float, const Pose&, const mppi::models::Path&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:242:32: error: request for member ‘shape’ in ‘path.mppi::models::Path::x’, which is of non-class type ‘const int’ 242 | const auto goal_idx = path.x.shape(0) - 1; | ^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:243:29: error: expression cannot be used as a function 243 | const auto goal_x = path.x(goal_idx); | ~~~~~~^~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:244:29: error: expression cannot be used as a function 244 | const auto goal_y = path.y(goal_idx); | ~~~~~~^~~~~~~~~~ In file included from /usr/include/xtensor/xstrided_view_base.hpp:19, from /usr/include/xtensor/xstrided_view.hpp:27, from /usr/include/xtensor/xgenerator.hpp:27, from /usr/include/xtensor/xbuilder.hpp:31, from /usr/include/xtensor/xmanipulation.hpp:13, from /usr/include/xtensor/xmath.hpp:28, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /usr/include/xtensor/xslice.hpp: In instantiation of ‘auto xt::detail::slice_implementation_getter::operator()(E&, SL&&, std::size_t) const [with E = const int; SL = xt::xall_tag; std::size_t = long unsigned int]’: /usr/include/xtensor/xslice.hpp:977:22: required from ‘auto xt::get_slice_implementation(E&, SL&&, std::size_t) [with E = const int; SL = xt::xall_tag; std::size_t = long unsigned int]’ /usr/include/xtensor/xview.hpp:1775:41: required from ‘auto xt::detail::make_view_impl(E&&, std::index_sequence<__indices ...>, S&& ...) [with E = const int&; long unsigned int ...I = {0, 1, 2}; S = {xt::xall_tag, int, xt::xnewaxis_tag}; std::index_sequence<__indices ...> = std::integer_sequence]’ /usr/include/xtensor/xview.hpp:1792:38: required from ‘auto xt::view(E&&, S&& ...) [with E = const int&; S = {xt::xall_tag, int, xt::xnewaxis_tag}]’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:303:31: required from here /usr/include/xtensor/xslice.hpp:948:24: error: ‘const int’ is not a class, struct, or union type 948 | return xall(e.shape()[index]); | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xslice.hpp:948:54: error: request for member ‘shape’ in ‘e’, which is of non-class type ‘const int’ 948 | return xall(e.shape()[index]); | ~~^~~~~ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘size_t mppi::utils::findPathTrajectoryInitialPoint(const mppi::CriticData&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:339:52: error: expression cannot be used as a function 339 | const auto dx = data.path.x - data.trajectories.x(0, 0); | ~~~~~~~~~~~~~~~~~~~^~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:340:52: error: expression cannot be used as a function 340 | const auto dy = data.path.y - data.trajectories.y(0, 0); | ~~~~~~~~~~~~~~~~~~~^~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp: In member function ‘virtual void mppi::critics::CostCritic::score(mppi::CriticData&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:120:48: error: template argument 4 is invalid 120 | auto && repulsive_cost = xt::xtensor::from_shape({data.costs.shape(0)}); | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:120:74: error: request for member ‘shape’ in ‘data.mppi::CriticData::costs’, which is of non-class type ‘int’ 120 | auto && repulsive_cost = xt::xtensor::from_shape({data.costs.shape(0)}); | ^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:123:47: error: request for member ‘shape’ in ‘data.mppi::CriticData::trajectories.mppi::models::Trajectories::x’, which is of non-class type ‘const int’ 123 | const size_t traj_len = data.trajectories.x.shape(1); | ^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:125:46: error: request for member ‘shape’ in ‘data.mppi::CriticData::trajectories.mppi::models::Trajectories::x’, which is of non-class type ‘const int’ 125 | for (size_t i = 0; i < data.trajectories.x.shape(0); ++i) { | ^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:134:36: error: expression cannot be used as a function 134 | pose_cost = costAtPose(traj.x(i, j), traj.y(i, j)); | ~~~~~~^~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:134:50: error: expression cannot be used as a function 134 | pose_cost = costAtPose(traj.x(i, j), traj.y(i, j)); | ~~~~~~^~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:137:40: error: expression cannot be used as a function 137 | if (inCollision(pose_cost, traj.x(i, j), traj.y(i, j), traj.yaws(i, j))) { | ~~~~~~^~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:137:54: error: expression cannot be used as a function 137 | if (inCollision(pose_cost, traj.x(i, j), traj.y(i, j), traj.yaws(i, j))) { | ~~~~~~^~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘void mppi::utils::findPathCosts(mppi::CriticData&, std::shared_ptr)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:376:50: error: request for member ‘shape’ in ‘data.mppi::CriticData::path.mppi::models::Path::x’, which is of non-class type ‘const int’ 376 | const size_t path_segments_count = data.path.x.shape(0) - 1; | ^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/cost_critic.cpp:137:71: error: expression cannot be used as a function 137 | if (inCollision(pose_cost, traj.x(i, j), traj.y(i, j), traj.yaws(i, j))) { | ~~~~~~~~~^~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:379:36: error: expression cannot be used as a function 379 | const auto path_x = data.path.x(idx); | ~~~~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:380:36: error: expression cannot be used as a function 380 | const auto path_y = data.path.y(idx); | ~~~~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘void mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:457:19: error: template argument 3 is invalid 457 | xt::xarray filter = {-21.0, 14.0, 39.0, 54.0, 59.0, 54.0, 39.0, 14.0, -21.0}; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:457:19: error: template argument 4 is invalid /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:457:21: error: scalar object ‘filter’ requires one element in initializer 457 | xt::xarray filter = {-21.0, 14.0, 39.0, 54.0, 59.0, 54.0, 39.0, 14.0, -21.0}; | ^~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:460:58: error: request for member ‘shape’ in ‘control_sequence.mppi::models::ControlSequence::vx’, which is of non-class type ‘int’ 460 | const unsigned int num_sequences = control_sequence.vx.shape(0) - 1; | ^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:48: error: template argument 3 is invalid 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:48: error: template argument 4 is invalid /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:472:29: error: template argument 4 is invalid 472 | [&](xt::xtensor & sequence, | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In lambda function: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:476:15: error: expression cannot be used as a function 476 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:482:17: error: expression cannot be used as a function 482 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:483:17: error: expression cannot be used as a function 483 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:484:17: error: expression cannot be used as a function 484 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:485:17: error: expression cannot be used as a function 485 | sequence(idx + 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:486:17: error: expression cannot be used as a function 486 | sequence(idx + 4)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:476:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 476 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 477 | { | ~ 478 | hist_0, | ~~~~~~~ 479 | hist_1, | ~~~~~~~ 480 | hist_2, | ~~~~~~~ 481 | hist_3, | ~~~~~~~ 482 | sequence(idx), | ~~~~~~~~~~~~~~ 483 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 484 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 485 | sequence(idx + 3), | ~~~~~~~~~~~~~~~~~~ 486 | sequence(idx + 4)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:489:15: error: expression cannot be used as a function 489 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:494:17: error: expression cannot be used as a function 494 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:495:17: error: expression cannot be used as a function 495 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:496:17: error: expression cannot be used as a function 496 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:497:17: error: expression cannot be used as a function 497 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:498:17: error: expression cannot be used as a function 498 | sequence(idx + 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:499:17: error: expression cannot be used as a function 499 | sequence(idx + 4)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:489:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 489 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 490 | { | ~ 491 | hist_1, | ~~~~~~~ 492 | hist_2, | ~~~~~~~ 493 | hist_3, | ~~~~~~~ 494 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 495 | sequence(idx), | ~~~~~~~~~~~~~~ 496 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 497 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 498 | sequence(idx + 3), | ~~~~~~~~~~~~~~~~~~ 499 | sequence(idx + 4)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:502:15: error: expression cannot be used as a function 502 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:506:17: error: expression cannot be used as a function 506 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:507:17: error: expression cannot be used as a function 507 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:508:17: error: expression cannot be used as a function 508 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:509:17: error: expression cannot be used as a function 509 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:510:17: error: expression cannot be used as a function 510 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:511:17: error: expression cannot be used as a function 511 | sequence(idx + 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:512:17: error: expression cannot be used as a function 512 | sequence(idx + 4)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:502:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 502 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 503 | { | ~ 504 | hist_2, | ~~~~~~~ 505 | hist_3, | ~~~~~~~ 506 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 507 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 508 | sequence(idx), | ~~~~~~~~~~~~~~ 509 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 510 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 511 | sequence(idx + 3), | ~~~~~~~~~~~~~~~~~~ 512 | sequence(idx + 4)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:515:15: error: expression cannot be used as a function 515 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:518:17: error: expression cannot be used as a function 518 | sequence(idx - 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:519:17: error: expression cannot be used as a function 519 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:520:17: error: expression cannot be used as a function 520 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:521:17: error: expression cannot be used as a function 521 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:522:17: error: expression cannot be used as a function 522 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:523:17: error: expression cannot be used as a function 523 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:524:17: error: expression cannot be used as a function 524 | sequence(idx + 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:525:17: error: expression cannot be used as a function 525 | sequence(idx + 4)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:515:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 515 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 516 | { | ~ 517 | hist_3, | ~~~~~~~ 518 | sequence(idx - 3), | ~~~~~~~~~~~~~~~~~~ 519 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 520 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 521 | sequence(idx), | ~~~~~~~~~~~~~~ 522 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 523 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 524 | sequence(idx + 3), | ~~~~~~~~~~~~~~~~~~ 525 | sequence(idx + 4)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:528:17: error: expression cannot be used as a function 528 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:530:19: error: expression cannot be used as a function 530 | sequence(idx - 4), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:531:19: error: expression cannot be used as a function 531 | sequence(idx - 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:532:19: error: expression cannot be used as a function 532 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:533:19: error: expression cannot be used as a function 533 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:534:19: error: expression cannot be used as a function 534 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:535:19: error: expression cannot be used as a function 535 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:536:19: error: expression cannot be used as a function 536 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:537:19: error: expression cannot be used as a function 537 | sequence(idx + 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:538:19: error: expression cannot be used as a function 538 | sequence(idx + 4)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:528:36: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 528 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 529 | { | ~ 530 | sequence(idx - 4), | ~~~~~~~~~~~~~~~~~~ 531 | sequence(idx - 3), | ~~~~~~~~~~~~~~~~~~ 532 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 533 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 534 | sequence(idx), | ~~~~~~~~~~~~~~ 535 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 536 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 537 | sequence(idx + 3), | ~~~~~~~~~~~~~~~~~~ 538 | sequence(idx + 4)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:542:15: error: expression cannot be used as a function 542 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:544:17: error: expression cannot be used as a function 544 | sequence(idx - 4), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:545:17: error: expression cannot be used as a function 545 | sequence(idx - 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:546:17: error: expression cannot be used as a function 546 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:547:17: error: expression cannot be used as a function 547 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:548:17: error: expression cannot be used as a function 548 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:549:17: error: expression cannot be used as a function 549 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:550:17: error: expression cannot be used as a function 550 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:551:17: error: expression cannot be used as a function 551 | sequence(idx + 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:552:17: error: expression cannot be used as a function 552 | sequence(idx + 3)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:542:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 542 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 543 | { | ~ 544 | sequence(idx - 4), | ~~~~~~~~~~~~~~~~~~ 545 | sequence(idx - 3), | ~~~~~~~~~~~~~~~~~~ 546 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 547 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 548 | sequence(idx), | ~~~~~~~~~~~~~~ 549 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 550 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 551 | sequence(idx + 3), | ~~~~~~~~~~~~~~~~~~ 552 | sequence(idx + 3)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:555:15: error: expression cannot be used as a function 555 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:557:17: error: expression cannot be used as a function 557 | sequence(idx - 4), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:558:17: error: expression cannot be used as a function 558 | sequence(idx - 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:559:17: error: expression cannot be used as a function 559 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:560:17: error: expression cannot be used as a function 560 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:561:17: error: expression cannot be used as a function 561 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:562:17: error: expression cannot be used as a function 562 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:563:17: error: expression cannot be used as a function 563 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:564:17: error: expression cannot be used as a function 564 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:565:17: error: expression cannot be used as a function 565 | sequence(idx + 2)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:555:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 555 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 556 | { | ~ 557 | sequence(idx - 4), | ~~~~~~~~~~~~~~~~~~ 558 | sequence(idx - 3), | ~~~~~~~~~~~~~~~~~~ 559 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 560 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 561 | sequence(idx), | ~~~~~~~~~~~~~~ 562 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 563 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 564 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 565 | sequence(idx + 2)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:568:15: error: expression cannot be used as a function 568 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:570:17: error: expression cannot be used as a function 570 | sequence(idx - 4), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:571:17: error: expression cannot be used as a function 571 | sequence(idx - 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:572:17: error: expression cannot be used as a function 572 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:573:17: error: expression cannot be used as a function 573 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:574:17: error: expression cannot be used as a function 574 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:575:17: error: expression cannot be used as a function 575 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:576:17: error: expression cannot be used as a function 576 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:577:17: error: expression cannot be used as a function 577 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:578:17: error: expression cannot be used as a function 578 | sequence(idx + 1)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:568:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 568 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 569 | { | ~ 570 | sequence(idx - 4), | ~~~~~~~~~~~~~~~~~~ 571 | sequence(idx - 3), | ~~~~~~~~~~~~~~~~~~ 572 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 573 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 574 | sequence(idx), | ~~~~~~~~~~~~~~ 575 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 576 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 577 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 578 | sequence(idx + 1)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:581:15: error: expression cannot be used as a function 581 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:583:17: error: expression cannot be used as a function 583 | sequence(idx - 4), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:584:17: error: expression cannot be used as a function 584 | sequence(idx - 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:585:17: error: expression cannot be used as a function 585 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:586:17: error: expression cannot be used as a function 586 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:587:17: error: expression cannot be used as a function 587 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:588:17: error: expression cannot be used as a function 588 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:589:17: error: expression cannot be used as a function 589 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:590:17: error: expression cannot be used as a function 590 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:591:17: error: expression cannot be used as a function 591 | sequence(idx)}); | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:581:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 581 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 582 | { | ~ 583 | sequence(idx - 4), | ~~~~~~~~~~~~~~~~~~ 584 | sequence(idx - 3), | ~~~~~~~~~~~~~~~~~~ 585 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 586 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 587 | sequence(idx), | ~~~~~~~~~~~~~~ 588 | sequence(idx), | ~~~~~~~~~~~~~~ 589 | sequence(idx), | ~~~~~~~~~~~~~~ 590 | sequence(idx), | ~~~~~~~~~~~~~~ 591 | sequence(idx)}); | ~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘void mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:611:24: error: expression cannot be used as a function 611 | control_sequence.vx(offset), | ~~~~~~~~~~~~~~~~~~~^~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:612:24: error: expression cannot be used as a function 612 | control_sequence.vy(offset), | ~~~~~~~~~~~~~~~~~~~^~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:613:24: error: expression cannot be used as a function 613 | control_sequence.wz(offset)}; | ~~~~~~~~~~~~~~~~~~~^~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:613:32: error: no match for ‘operator=’ (operand types are ‘std::array::value_type’ {aka ‘mppi::models::Control’} and ‘’) 613 | control_sequence.wz(offset)}; | ^ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:27, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_function.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critics/goal_critic.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:16: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:27:8: note: candidate: ‘constexpr mppi::models::Control& mppi::models::Control::operator=(const mppi::models::Control&)’ 27 | struct Control | ^~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:27:8: note: no known conversion for argument 1 from ‘’ to ‘const mppi::models::Control&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:27:8: note: candidate: ‘constexpr mppi::models::Control& mppi::models::Control::operator=(mppi::models::Control&&)’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:27:8: note: no known conversion for argument 1 from ‘’ to ‘mppi::models::Control&&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp: In member function ‘virtual void mppi::critics::GoalCritic::score(mppi::CriticData&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:44:37: error: request for member ‘shape’ in ‘data.mppi::CriticData::path.mppi::models::Path::x’, which is of non-class type ‘const int’ 44 | const auto goal_idx = data.path.x.shape(0) - 1; | ^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:46:34: error: expression cannot be used as a function 46 | const auto goal_x = data.path.x(goal_idx); | ~~~~~~~~~~~^~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critics/goal_critic.cpp:47:34: error: expression cannot be used as a function 47 | const auto goal_y = data.path.y(goal_idx); | ~~~~~~~~~~~^~~~~~~~~~ In file included from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /usr/include/xtensor/xmath.hpp: In function ‘auto xt::interp(const E1&, const E2&, const E3&, T, T)’: /usr/include/xtensor/xmath.hpp:2895:39: error: template argument 4 is invalid 2895 | auto f = xtensor::from_shape(x.shape()); | ^ In file included from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /usr/include/xtensor/xcontainer.hpp: In member function ‘void xt::xcontainer::store_simd(xt::xcontainer::size_type, const simd&)’: /usr/include/xtensor/xcontainer.hpp:728:18: error: ‘store_simd’ is not a member of ‘xt_simd’ 728 | xt_simd::store_simd(std::addressof(storage()[i]), e, align_mode()); | ^~~~~~~~~~ /usr/include/xtensor/xcontainer.hpp:728:39: error: expected primary-expression before ‘,’ token 728 | xt_simd::store_simd(std::addressof(storage()[i]), e, align_mode()); | ^ /usr/include/xtensor/xcontainer.hpp:728:66: error: expected ‘(’ before ‘>’ token 728 | xt_simd::store_simd(std::addressof(storage()[i]), e, align_mode()); | ^ | ( /usr/include/xtensor/xcontainer.hpp: In member function ‘xt::container_simd_return_type_t::storage_type, typename xt::xcontainer_inner_types::storage_type::value_type, requested_type> xt::xcontainer::load_simd(xt::xcontainer::size_type) const’: /usr/include/xtensor/xcontainer.hpp:738:25: error: ‘load_simd’ is not a member of ‘xt_simd’ 738 | return xt_simd::load_simd(std::addressof(storage()[i]), align_mode()); | ^~~~~~~~~ /usr/include/xtensor/xcontainer.hpp:738:45: error: expected primary-expression before ‘,’ token 738 | return xt_simd::load_simd(std::addressof(storage()[i]), align_mode()); | ^ /usr/include/xtensor/xcontainer.hpp:738:61: error: expected primary-expression before ‘>’ token 738 | return xt_simd::load_simd(std::addressof(storage()[i]), align_mode()); | ^ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /usr/include/xtensor/xtensor.hpp: In function ‘auto xt::from_indices(const std::vector&)’: /usr/include/xtensor/xtensor.hpp:814:62: error: template argument 4 is invalid 814 | using return_type = xtensor; | ^ /usr/include/xtensor/xtensor.hpp:815:36: error: ‘return_type’ has not been declared 815 | using size_type = typename return_type::size_type; | ^~~~~~~~~~~ /usr/include/xtensor/xtensor.hpp:819:20: error: ‘return_type’ has not been declared 819 | return return_type::from_shape({size_type(0), size_type(0)}); | ^~~~~~~~~~~ /usr/include/xtensor/xtensor.hpp:819:45: error: there are no arguments to ‘size_type’ that depend on a template parameter, so a declaration of ‘size_type’ must be available [-fpermissive] 819 | return return_type::from_shape({size_type(0), size_type(0)}); | ^~~~~~~~~ /usr/include/xtensor/xtensor.hpp:819:45: note: (if you use ‘-fpermissive’, G++ will accept your code, but allowing the use of an undeclared name is deprecated) /usr/include/xtensor/xtensor.hpp:819:59: error: there are no arguments to ‘size_type’ that depend on a template parameter, so a declaration of ‘size_type’ must be available [-fpermissive] 819 | return return_type::from_shape({size_type(0), size_type(0)}); | ^~~~~~~~~ /usr/include/xtensor/xtensor.hpp:822:9: error: ‘return_type’ was not declared in this scope 822 | return_type out = return_type::from_shape({idx.size(), idx[0].size()}); | ^~~~~~~~~~~ /usr/include/xtensor/xtensor.hpp:822:78: error: expected primary-expression before ‘)’ token 822 | return_type out = return_type::from_shape({idx.size(), idx[0].size()}); | ^ /usr/include/xtensor/xtensor.hpp:824:14: error: ‘size_type’ was not declared in this scope; did you mean ‘size_t’? 824 | for (size_type i = 0; i < out.shape()[0]; ++i) | ^~~~~~~~~ | size_t /usr/include/xtensor/xtensor.hpp:824:31: error: ‘i’ was not declared in this scope 824 | for (size_type i = 0; i < out.shape()[0]; ++i) | ^ /usr/include/xtensor/xtensor.hpp:824:35: error: ‘out’ was not declared in this scope 824 | for (size_type i = 0; i < out.shape()[0]; ++i) | ^~~ /usr/include/xtensor/xtensor.hpp:826:27: error: expected ‘;’ before ‘j’ 826 | for (size_type j = 0; j < out.shape()[1]; ++j) | ^~ | ; /usr/include/xtensor/xtensor.hpp:826:35: error: ‘j’ was not declared in this scope 826 | for (size_type j = 0; j < out.shape()[1]; ++j) | ^ /usr/include/xtensor/xtensor.hpp:832:16: error: ‘out’ was not declared in this scope 832 | return out; | ^~~ /usr/include/xtensor/xtensor.hpp: In function ‘auto xt::flatten_indices(const std::vector&)’: /usr/include/xtensor/xtensor.hpp:852:62: error: template argument 4 is invalid 852 | using return_type = xtensor; | ^ /usr/include/xtensor/xtensor.hpp:853:9: error: ‘return_type’ was not declared in this scope 853 | return_type out = return_type::from_shape({n}); | ^~~~~~~~~~~ /usr/include/xtensor/xtensor.hpp:853:54: error: expected primary-expression before ‘)’ token 853 | return_type out = return_type::from_shape({n}); | ^ /usr/include/xtensor/xtensor.hpp:854:21: error: ‘out’ was not declared in this scope 854 | auto iter = out.begin(); | ^~~ /usr/include/xtensor/xtensor.hpp: In lambda function: /usr/include/xtensor/xtensor.hpp:855:67: error: ‘iter’ is not captured 855 | for_each(idx.begin(), idx.end(), [&iter](const auto& t) { iter = std::copy(t.cbegin(), t.cend(), iter); }); | ^~~~ /usr/include/xtensor/xtensor.hpp:855:48: note: the lambda has no capture-default 855 | for_each(idx.begin(), idx.end(), [&iter](const auto& t) { iter = std::copy(t.cbegin(), t.cend(), iter); }); | ^ /usr/include/xtensor/xtensor.hpp:854:14: note: ‘iter’ declared here 854 | auto iter = out.begin(); | ^~~~ /usr/include/xtensor/xtensor.hpp:855:106: error: ‘iter’ is not captured 855 | for_each(idx.begin(), idx.end(), [&iter](const auto& t) { iter = std::copy(t.cbegin(), t.cend(), iter); }); | ^~~~ /usr/include/xtensor/xtensor.hpp:855:48: note: the lambda has no capture-default 855 | for_each(idx.begin(), idx.end(), [&iter](const auto& t) { iter = std::copy(t.cbegin(), t.cend(), iter); }); | ^ /usr/include/xtensor/xtensor.hpp:854:14: note: ‘iter’ declared here 854 | auto iter = out.begin(); | ^~~~ /usr/include/xtensor/xtensor.hpp: At global scope: /usr/include/xtensor/xtensor.hpp:887:51: error: template argument 4 is invalid 887 | using type = xt::xtensor; | ^ /usr/include/xtensor/xtensor.hpp:890:45: error: template argument 4 is invalid 890 | static xt::xtensor init(T n) | ^ /usr/include/xtensor/xtensor.hpp: In static member function ‘static int xt::detail::ravel_return_type::init(T)’: /usr/include/xtensor/xtensor.hpp:892:45: error: template argument 4 is invalid 892 | return xtensor::from_shape({n}); | ^ In file included from /usr/include/xtensor/xview.hpp:35, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /usr/include/xtensor/xview_utils.hpp: At global scope: /usr/include/xtensor/xview_utils.hpp:69:41: error: template argument 3 is invalid 69 | using type = xt::xarray; | ^ /usr/include/xtensor/xview_utils.hpp:69:41: error: template argument 4 is invalid /usr/include/xtensor/xview_utils.hpp:75:96: error: template argument 4 is invalid 75 | using type = xt::xtensor() - integral_count(), L>; | ^ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:35, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:38:23: error: template argument 4 is invalid 38 | xt::xtensor vx; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:39:23: error: template argument 4 is invalid 39 | xt::xtensor vy; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:40:23: error: template argument 4 is invalid 40 | xt::xtensor wz; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp: In member function ‘void mppi::models::ControlSequence::reset(unsigned int)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:44:26: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 44 | vx = xt::zeros({time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:45:26: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 45 | vy = xt::zeros({time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:46:26: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 46 | wz = xt::zeros({time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:35, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp: At global scope: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:32:23: error: template argument 4 is invalid 32 | xt::xtensor vx; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:33:23: error: template argument 4 is invalid 33 | xt::xtensor vy; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:34:23: error: template argument 4 is invalid 34 | xt::xtensor wz; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:36:23: error: template argument 4 is invalid 36 | xt::xtensor cvx; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:37:23: error: template argument 4 is invalid 37 | xt::xtensor cvy; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:38:23: error: template argument 4 is invalid 38 | xt::xtensor cwz; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp: In member function ‘void mppi::models::State::reset(unsigned int, unsigned int)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:48:26: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 48 | vx = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:49:26: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 49 | vy = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:50:26: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 50 | wz = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:52:27: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 52 | cvx = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:53:27: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 53 | cvy = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:54:27: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 54 | cwz = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:23, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:35, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /usr/include/xtensor/xmasked_view.hpp: At global scope: /usr/include/xtensor/xmasked_view.hpp:51:84: error: template argument 3 is invalid 51 | using temporary_type = xarray>; | ^~ /usr/include/xtensor/xmasked_view.hpp:51:84: error: template argument 4 is invalid In file included from /usr/include/xtensor/xstrided_view_base.hpp:19, from /usr/include/xtensor/xstrided_view.hpp:27, from /usr/include/xtensor/xgenerator.hpp:27, from /usr/include/xtensor/xbuilder.hpp:31, from /usr/include/xtensor/xmanipulation.hpp:13, from /usr/include/xtensor/xmath.hpp:28, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /usr/include/xtensor/xslice.hpp: In instantiation of ‘struct xt::detail::get_slice_type_impl’: /usr/include/xtensor/xview.hpp:1773:19: required from ‘auto xt::detail::make_view_impl(E&&, std::index_sequence<__indices ...>, S&& ...) [with E = int&; long unsigned int ...I = {0, 1}; S = {xt::xall_tag, xt::xrange_adaptor}; std::index_sequence<__indices ...> = std::integer_sequence]’ /usr/include/xtensor/xview.hpp:1792:38: required from ‘auto xt::view(E&&, S&& ...) [with E = int&; S = {xt::xall_tag, xt::xrange_adaptor}]’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:56:25: required from here /usr/include/xtensor/xslice.hpp:995:19: error: ‘int’ is not a class, struct, or union type 995 | using type = xall; | ^~~~ /usr/include/xtensor/xslice.hpp: In instantiation of ‘auto xt::detail::slice_implementation_getter::operator()(E&, SL&&, std::size_t) const [with E = int; SL = xt::xall_tag; std::size_t = long unsigned int]’: /usr/include/xtensor/xslice.hpp:977:22: required from ‘auto xt::get_slice_implementation(E&, SL&&, std::size_t) [with E = int; SL = xt::xall_tag; std::size_t = long unsigned int]’ /usr/include/xtensor/xview.hpp:1775:41: required from ‘auto xt::detail::make_view_impl(E&&, std::index_sequence<__indices ...>, S&& ...) [with E = int&; long unsigned int ...I = {0, 1}; S = {xt::xall_tag, xt::xrange_adaptor}; std::index_sequence<__indices ...> = std::integer_sequence]’ /usr/include/xtensor/xview.hpp:1792:38: required from ‘auto xt::view(E&&, S&& ...) [with E = int&; S = {xt::xall_tag, xt::xrange_adaptor}]’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:56:25: required from here /usr/include/xtensor/xslice.hpp:948:24: error: ‘int’ is not a class, struct, or union type 948 | return xall(e.shape()[index]); | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xslice.hpp:948:54: error: request for member ‘shape’ in ‘e’, which is of non-class type ‘int’ 948 | return xall(e.shape()[index]); | ~~^~~~~ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:35, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp: In member function ‘virtual void mppi::AckermannMotionModel::applyConstraints(mppi::models::ControlSequence&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:115:45: error: no matching function for call to ‘fabs(int&)’ 115 | auto view = xt::masked_view(wz, xt::fabs(vx) / xt::fabs(wz) < min_turning_r_); | ~~~~~~~~^~~~ In file included from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /usr/include/xtensor/xmath.hpp:444:17: note: candidate: ‘template xt::detail::xfunction_type_t xt::fabs(E&&)’ 444 | inline auto fabs(E&& e) noexcept | ^~~~ /usr/include/xtensor/xmath.hpp:444:17: note: template argument deduction/substitution failed: In file included from /usr/include/c++/11.4.0/ratio:39, from /usr/include/c++/11.4.0/chrono:39, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:16: /usr/include/c++/11.4.0/type_traits: In substitution of ‘template using enable_if_t = typename std::enable_if::type [with bool _Cond = false; _Tp = xt::detail::xfunction_type]’: /usr/include/xtensor/xoperation.hpp:211:15: required by substitution of ‘template using xfunction_type_t = typename std::enable_if::type>::type>...>::value, xt::detail::xfunction_type >::type::type [with F = xt::math::fabs_fun; E = {int&}]’ /usr/include/xtensor/xmath.hpp:444:17: required by substitution of ‘template xt::detail::xfunction_type_t xt::fabs(E&&) [with E = int&]’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:115:45: required from here /usr/include/c++/11.4.0/type_traits:2579:11: error: no type named ‘type’ in ‘struct std::enable_if >’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:35, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:115:60: error: no matching function for call to ‘fabs(int&)’ 115 | auto view = xt::masked_view(wz, xt::fabs(vx) / xt::fabs(wz) < min_turning_r_); | ~~~~~~~~^~~~ In file included from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /usr/include/xtensor/xmath.hpp:444:17: note: candidate: ‘template xt::detail::xfunction_type_t xt::fabs(E&&)’ 444 | inline auto fabs(E&& e) noexcept | ^~~~ /usr/include/xtensor/xmath.hpp:444:17: note: template argument deduction/substitution failed: In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:35, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:116:20: error: no matching function for call to ‘sign(int&)’ 116 | view = xt::sign(wz) * vx / min_turning_r_; | ~~~~~~~~^~~~ In file included from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /usr/include/xtensor/xmath.hpp:851:17: note: candidate: ‘template xt::detail::xfunction_type_t xt::sign(E&&)’ 851 | inline auto sign(E&& e) noexcept | ^~~~ /usr/include/xtensor/xmath.hpp:851:17: note: template argument deduction/substitution failed: In file included from /usr/include/c++/11.4.0/ratio:39, from /usr/include/c++/11.4.0/chrono:39, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:16: /usr/include/c++/11.4.0/type_traits: In substitution of ‘template using enable_if_t = typename std::enable_if::type [with bool _Cond = false; _Tp = xt::detail::xfunction_type]’: /usr/include/xtensor/xoperation.hpp:211:15: required by substitution of ‘template using xfunction_type_t = typename std::enable_if::type>::type>...>::value, xt::detail::xfunction_type >::type::type [with F = xt::math::sign_fun; E = {int&}]’ /usr/include/xtensor/xmath.hpp:851:17: required by substitution of ‘template xt::detail::xfunction_type_t xt::sign(E&&) [with E = int&]’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:116:20: required from here /usr/include/c++/11.4.0/type_traits:2579:11: error: no type named ‘type’ in ‘struct std::enable_if >’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:48, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:31, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:36, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp: At global scope: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp:29:23: error: template argument 4 is invalid 29 | xt::xtensor x; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp:30:23: error: template argument 4 is invalid 30 | xt::xtensor y; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp:31:23: error: template argument 4 is invalid 31 | xt::xtensor yaws; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp: In member function ‘void mppi::models::Path::reset(unsigned int)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp:38:25: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 38 | x = xt::zeros({size}); | ~~~~~~~~~~~~~~~~^~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp:39:25: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 39 | y = xt::zeros({size}); | ~~~~~~~~~~~~~~~~^~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp:40:28: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 40 | yaws = xt::zeros({size}); | ~~~~~~~~~~~~~~~~^~~~~~~~ | | | xt::xbroadcast, std::array > In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:50, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:31, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:36, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp: At global scope: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:30:23: error: template argument 4 is invalid 30 | xt::xtensor x; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:31:23: error: template argument 4 is invalid 31 | xt::xtensor y; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:32:23: error: template argument 4 is invalid 32 | xt::xtensor yaws; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp: In member function ‘void mppi::models::Trajectories::reset(unsigned int, unsigned int)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:39:25: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 39 | x = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:40:25: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 40 | y = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:41:28: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 41 | yaws = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:50, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:31, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:36, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp: At global scope: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:44:23: error: template argument 4 is invalid 44 | xt::xtensor & costs; | ^ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:31, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:36, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘mppi::models::Path mppi::utils::toTensor(const Path&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:186:13: error: expression cannot be used as a function 186 | result.x(i) = path.poses[i].pose.position.x; | ~~~~~~~~^~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:187:13: error: expression cannot be used as a function 187 | result.y(i) = path.poses[i].pose.position.y; | ~~~~~~~~^~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:188:16: error: expression cannot be used as a function 188 | result.yaws(i) = tf2::getYaw(path.poses[i].pose.orientation); | ~~~~~~~~~~~^~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘bool mppi::utils::withinPositionGoalTolerance(nav2_core::GoalChecker*, const Pose&, const mppi::models::Path&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:206:32: error: request for member ‘shape’ in ‘path.mppi::models::Path::x’, which is of non-class type ‘const int’ 206 | const auto goal_idx = path.x.shape(0) - 1; | ^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:207:29: error: expression cannot be used as a function 207 | const auto goal_x = path.x(goal_idx); | ~~~~~~^~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:208:29: error: expression cannot be used as a function 208 | const auto goal_y = path.y(goal_idx); | ~~~~~~^~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘bool mppi::utils::withinPositionGoalTolerance(float, const Pose&, const mppi::models::Path&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:242:32: error: request for member ‘shape’ in ‘path.mppi::models::Path::x’, which is of non-class type ‘const int’ 242 | const auto goal_idx = path.x.shape(0) - 1; | ^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:243:29: error: expression cannot be used as a function 243 | const auto goal_x = path.x(goal_idx); | ~~~~~~^~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:244:29: error: expression cannot be used as a function 244 | const auto goal_y = path.y(goal_idx); | ~~~~~~^~~~~~~~~~ In file included from /usr/include/xtensor/xstrided_view_base.hpp:19, from /usr/include/xtensor/xstrided_view.hpp:27, from /usr/include/xtensor/xgenerator.hpp:27, from /usr/include/xtensor/xbuilder.hpp:31, from /usr/include/xtensor/xmanipulation.hpp:13, from /usr/include/xtensor/xmath.hpp:28, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /usr/include/xtensor/xslice.hpp: In instantiation of ‘auto xt::detail::slice_implementation_getter::operator()(E&, SL&&, std::size_t) const [with E = const int; SL = xt::xall_tag; std::size_t = long unsigned int]’: /usr/include/xtensor/xslice.hpp:977:22: required from ‘auto xt::get_slice_implementation(E&, SL&&, std::size_t) [with E = const int; SL = xt::xall_tag; std::size_t = long unsigned int]’ /usr/include/xtensor/xview.hpp:1775:41: required from ‘auto xt::detail::make_view_impl(E&&, std::index_sequence<__indices ...>, S&& ...) [with E = const int&; long unsigned int ...I = {0, 1, 2}; S = {xt::xall_tag, int, xt::xnewaxis_tag}; std::index_sequence<__indices ...> = std::integer_sequence]’ /usr/include/xtensor/xview.hpp:1792:38: required from ‘auto xt::view(E&&, S&& ...) [with E = const int&; S = {xt::xall_tag, int, xt::xnewaxis_tag}]’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:303:31: required from here /usr/include/xtensor/xslice.hpp:948:24: error: ‘const int’ is not a class, struct, or union type 948 | return xall(e.shape()[index]); | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xslice.hpp:948:54: error: request for member ‘shape’ in ‘e’, which is of non-class type ‘const int’ 948 | return xall(e.shape()[index]); | ~~^~~~~ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:31, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:36, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘size_t mppi::utils::findPathTrajectoryInitialPoint(const mppi::CriticData&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:339:52: error: expression cannot be used as a function 339 | const auto dx = data.path.x - data.trajectories.x(0, 0); | ~~~~~~~~~~~~~~~~~~~^~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:340:52: error: expression cannot be used as a function 340 | const auto dy = data.path.y - data.trajectories.y(0, 0); | ~~~~~~~~~~~~~~~~~~~^~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘void mppi::utils::findPathCosts(mppi::CriticData&, std::shared_ptr)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:376:50: error: request for member ‘shape’ in ‘data.mppi::CriticData::path.mppi::models::Path::x’, which is of non-class type ‘const int’ 376 | const size_t path_segments_count = data.path.x.shape(0) - 1; | ^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:379:36: error: expression cannot be used as a function 379 | const auto path_x = data.path.x(idx); | ~~~~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:380:36: error: expression cannot be used as a function 380 | const auto path_y = data.path.y(idx); | ~~~~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘void mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:457:19: error: template argument 3 is invalid 457 | xt::xarray filter = {-21.0, 14.0, 39.0, 54.0, 59.0, 54.0, 39.0, 14.0, -21.0}; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:457:19: error: template argument 4 is invalid /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:457:21: error: scalar object ‘filter’ requires one element in initializer 457 | xt::xarray filter = {-21.0, 14.0, 39.0, 54.0, 59.0, 54.0, 39.0, 14.0, -21.0}; | ^~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:460:58: error: request for member ‘shape’ in ‘control_sequence.mppi::models::ControlSequence::vx’, which is of non-class type ‘int’ 460 | const unsigned int num_sequences = control_sequence.vx.shape(0) - 1; | ^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:48: error: template argument 3 is invalid 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:48: error: template argument 4 is invalid /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:472:29: error: template argument 4 is invalid 472 | [&](xt::xtensor & sequence, | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In lambda function: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:476:15: error: expression cannot be used as a function 476 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:482:17: error: expression cannot be used as a function 482 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:483:17: error: expression cannot be used as a function 483 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:484:17: error: expression cannot be used as a function 484 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:485:17: error: expression cannot be used as a function 485 | sequence(idx + 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:486:17: error: expression cannot be used as a function 486 | sequence(idx + 4)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:476:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 476 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 477 | { | ~ 478 | hist_0, | ~~~~~~~ 479 | hist_1, | ~~~~~~~ 480 | hist_2, | ~~~~~~~ 481 | hist_3, | ~~~~~~~ 482 | sequence(idx), | ~~~~~~~~~~~~~~ 483 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 484 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 485 | sequence(idx + 3), | ~~~~~~~~~~~~~~~~~~ 486 | sequence(idx + 4)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:489:15: error: expression cannot be used as a function 489 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:494:17: error: expression cannot be used as a function 494 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:495:17: error: expression cannot be used as a function 495 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:496:17: error: expression cannot be used as a function 496 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:497:17: error: expression cannot be used as a function 497 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:498:17: error: expression cannot be used as a function 498 | sequence(idx + 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:499:17: error: expression cannot be used as a function 499 | sequence(idx + 4)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:489:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 489 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 490 | { | ~ 491 | hist_1, | ~~~~~~~ 492 | hist_2, | ~~~~~~~ 493 | hist_3, | ~~~~~~~ 494 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 495 | sequence(idx), | ~~~~~~~~~~~~~~ 496 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 497 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 498 | sequence(idx + 3), | ~~~~~~~~~~~~~~~~~~ 499 | sequence(idx + 4)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:502:15: error: expression cannot be used as a function 502 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:506:17: error: expression cannot be used as a function 506 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:507:17: error: expression cannot be used as a function 507 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:508:17: error: expression cannot be used as a function 508 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:509:17: error: expression cannot be used as a function 509 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:510:17: error: expression cannot be used as a function 510 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:511:17: error: expression cannot be used as a function 511 | sequence(idx + 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:512:17: error: expression cannot be used as a function 512 | sequence(idx + 4)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:502:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 502 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 503 | { | ~ 504 | hist_2, | ~~~~~~~ 505 | hist_3, | ~~~~~~~ 506 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 507 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 508 | sequence(idx), | ~~~~~~~~~~~~~~ 509 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 510 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 511 | sequence(idx + 3), | ~~~~~~~~~~~~~~~~~~ 512 | sequence(idx + 4)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:515:15: error: expression cannot be used as a function 515 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:518:17: error: expression cannot be used as a function 518 | sequence(idx - 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:519:17: error: expression cannot be used as a function 519 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:520:17: error: expression cannot be used as a function 520 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:521:17: error: expression cannot be used as a function 521 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:522:17: error: expression cannot be used as a function 522 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:523:17: error: expression cannot be used as a function 523 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:524:17: error: expression cannot be used as a function 524 | sequence(idx + 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:525:17: error: expression cannot be used as a function 525 | sequence(idx + 4)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:515:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 515 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 516 | { | ~ 517 | hist_3, | ~~~~~~~ 518 | sequence(idx - 3), | ~~~~~~~~~~~~~~~~~~ 519 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 520 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 521 | sequence(idx), | ~~~~~~~~~~~~~~ 522 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 523 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 524 | sequence(idx + 3), | ~~~~~~~~~~~~~~~~~~ 525 | sequence(idx + 4)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:528:17: error: expression cannot be used as a function 528 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:530:19: error: expression cannot be used as a function 530 | sequence(idx - 4), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:531:19: error: expression cannot be used as a function 531 | sequence(idx - 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:532:19: error: expression cannot be used as a function 532 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:533:19: error: expression cannot be used as a function 533 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:534:19: error: expression cannot be used as a function 534 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:535:19: error: expression cannot be used as a function 535 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:536:19: error: expression cannot be used as a function 536 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:537:19: error: expression cannot be used as a function 537 | sequence(idx + 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:538:19: error: expression cannot be used as a function 538 | sequence(idx + 4)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:528:36: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 528 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 529 | { | ~ 530 | sequence(idx - 4), | ~~~~~~~~~~~~~~~~~~ 531 | sequence(idx - 3), | ~~~~~~~~~~~~~~~~~~ 532 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 533 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 534 | sequence(idx), | ~~~~~~~~~~~~~~ 535 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 536 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 537 | sequence(idx + 3), | ~~~~~~~~~~~~~~~~~~ 538 | sequence(idx + 4)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:542:15: error: expression cannot be used as a function 542 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:544:17: error: expression cannot be used as a function 544 | sequence(idx - 4), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:545:17: error: expression cannot be used as a function 545 | sequence(idx - 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:546:17: error: expression cannot be used as a function 546 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:547:17: error: expression cannot be used as a function 547 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:548:17: error: expression cannot be used as a function 548 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:549:17: error: expression cannot be used as a function 549 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:550:17: error: expression cannot be used as a function 550 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:551:17: error: expression cannot be used as a function 551 | sequence(idx + 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:552:17: error: expression cannot be used as a function 552 | sequence(idx + 3)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:542:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 542 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 543 | { | ~ 544 | sequence(idx - 4), | ~~~~~~~~~~~~~~~~~~ 545 | sequence(idx - 3), | ~~~~~~~~~~~~~~~~~~ 546 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 547 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 548 | sequence(idx), | ~~~~~~~~~~~~~~ 549 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 550 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 551 | sequence(idx + 3), | ~~~~~~~~~~~~~~~~~~ 552 | sequence(idx + 3)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:555:15: error: expression cannot be used as a function 555 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:557:17: error: expression cannot be used as a function 557 | sequence(idx - 4), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:558:17: error: expression cannot be used as a function 558 | sequence(idx - 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:559:17: error: expression cannot be used as a function 559 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:560:17: error: expression cannot be used as a function 560 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:561:17: error: expression cannot be used as a function 561 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:562:17: error: expression cannot be used as a function 562 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:563:17: error: expression cannot be used as a function 563 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:564:17: error: expression cannot be used as a function 564 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:565:17: error: expression cannot be used as a function 565 | sequence(idx + 2)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:555:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 555 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 556 | { | ~ 557 | sequence(idx - 4), | ~~~~~~~~~~~~~~~~~~ 558 | sequence(idx - 3), | ~~~~~~~~~~~~~~~~~~ 559 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 560 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 561 | sequence(idx), | ~~~~~~~~~~~~~~ 562 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 563 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 564 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 565 | sequence(idx + 2)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:568:15: error: expression cannot be used as a function 568 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:570:17: error: expression cannot be used as a function 570 | sequence(idx - 4), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:571:17: error: expression cannot be used as a function 571 | sequence(idx - 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:572:17: error: expression cannot be used as a function 572 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:573:17: error: expression cannot be used as a function 573 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:574:17: error: expression cannot be used as a function 574 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:575:17: error: expression cannot be used as a function 575 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:576:17: error: expression cannot be used as a function 576 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:577:17: error: expression cannot be used as a function 577 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:578:17: error: expression cannot be used as a function 578 | sequence(idx + 1)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:568:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 568 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 569 | { | ~ 570 | sequence(idx - 4), | ~~~~~~~~~~~~~~~~~~ 571 | sequence(idx - 3), | ~~~~~~~~~~~~~~~~~~ 572 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 573 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 574 | sequence(idx), | ~~~~~~~~~~~~~~ 575 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 576 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 577 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 578 | sequence(idx + 1)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:581:15: error: expression cannot be used as a function 581 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:583:17: error: expression cannot be used as a function 583 | sequence(idx - 4), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:584:17: error: expression cannot be used as a function 584 | sequence(idx - 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:585:17: error: expression cannot be used as a function 585 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:586:17: error: expression cannot be used as a function 586 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:587:17: error: expression cannot be used as a function 587 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:588:17: error: expression cannot be used as a function 588 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:589:17: error: expression cannot be used as a function 589 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:590:17: error: expression cannot be used as a function 590 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:591:17: error: expression cannot be used as a function 591 | sequence(idx)}); | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:581:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 581 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 582 | { | ~ 583 | sequence(idx - 4), | ~~~~~~~~~~~~~~~~~~ 584 | sequence(idx - 3), | ~~~~~~~~~~~~~~~~~~ 585 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 586 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 587 | sequence(idx), | ~~~~~~~~~~~~~~ 588 | sequence(idx), | ~~~~~~~~~~~~~~ 589 | sequence(idx), | ~~~~~~~~~~~~~~ 590 | sequence(idx), | ~~~~~~~~~~~~~~ 591 | sequence(idx)}); | ~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘void mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:611:24: error: expression cannot be used as a function 611 | control_sequence.vx(offset), | ~~~~~~~~~~~~~~~~~~~^~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:612:24: error: expression cannot be used as a function 612 | control_sequence.vy(offset), | ~~~~~~~~~~~~~~~~~~~^~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:613:24: error: expression cannot be used as a function 613 | control_sequence.wz(offset)}; | ~~~~~~~~~~~~~~~~~~~^~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:613:32: error: no match for ‘operator=’ (operand types are ‘std::array::value_type’ {aka ‘mppi::models::Control’} and ‘’) 613 | control_sequence.wz(offset)}; | ^ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:35, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:27:8: note: candidate: ‘constexpr mppi::models::Control& mppi::models::Control::operator=(const mppi::models::Control&)’ 27 | struct Control | ^~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:27:8: note: no known conversion for argument 1 from ‘’ to ‘const mppi::models::Control&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:27:8: note: candidate: ‘constexpr mppi::models::Control& mppi::models::Control::operator=(mppi::models::Control&&)’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:27:8: note: no known conversion for argument 1 from ‘’ to ‘mppi::models::Control&&’ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:40, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/noise_generator.hpp: At global scope: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/noise_generator.hpp:97:23: error: template argument 4 is invalid 97 | xt::xtensor noises_vx_; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/noise_generator.hpp:98:23: error: template argument 4 is invalid 98 | xt::xtensor noises_vy_; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/noise_generator.hpp:99:23: error: template argument 4 is invalid 99 | xt::xtensor noises_wz_; | ^ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:105:23: error: template argument 4 is invalid 105 | xt::xtensor getOptimizedTrajectory(); | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:199:25: error: template argument 4 is invalid 199 | xt::xtensor & trajectories, | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:200:31: error: template argument 4 is invalid 200 | const xt::xtensor & state) const; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:253:23: error: template argument 4 is invalid 253 | xt::xtensor costs_; | ^ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/controller.hpp:23, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/controller.cpp:17: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:76:38: error: template argument 4 is invalid 76 | void add(const xt::xtensor & trajectory, const std::string & marker_namespace); | ^ make[3]: *** [CMakeFiles/mppi_critics.dir/build.make:76: CMakeFiles/mppi_critics.dir/src/critics/obstacles_critic.cpp.o] Error 1 make[3]: *** Waiting for unfinished jobs.... make[3]: *** [CMakeFiles/mppi_critics.dir/build.make:90: CMakeFiles/mppi_critics.dir/src/critics/cost_critic.cpp.o] Error 1 make[3]: *** [CMakeFiles/mppi_critics.dir/build.make:104: CMakeFiles/mppi_critics.dir/src/critics/goal_critic.cpp.o] Error 1 make[2]: *** [CMakeFiles/Makefile2:165: CMakeFiles/mppi_critics.dir/all] Error 2 make[2]: *** Waiting for unfinished jobs.... make[3]: *** [CMakeFiles/mppi_controller.dir/build.make:76: CMakeFiles/mppi_controller.dir/src/controller.cpp.o] Error 1 make[3]: *** Waiting for unfinished jobs.... In file included from /usr/include/xsimd/xsimd.hpp:56, from /usr/include/xtensor/xtensor_config.hpp:75, from /usr/include/xtensor/xbuffer_adaptor.hpp:21, from /usr/include/xtensor/xtensor.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /usr/include/xsimd/arch/xsimd_scalar.hpp: In function ‘std::pair xsimd::sincos(float)’: /usr/include/xsimd/arch/xsimd_scalar.hpp:1180:60: note: parameter passing for argument of type ‘std::pair’ when C++17 is enabled changed to match C++14 in GCC 10.1 1180 | XSIMD_INLINE std::pair sincos(float val) noexcept | ^~~~~~~~ /usr/include/xsimd/arch/xsimd_scalar.hpp: In function ‘std::pair xsimd::sincos(double)’: /usr/include/xsimd/arch/xsimd_scalar.hpp:1187:63: note: parameter passing for argument of type ‘std::pair’ when C++17 is enabled changed to match C++14 in GCC 10.1 1187 | XSIMD_INLINE std::pair sincos(double val) noexcept | ^~~~~~~~ In file included from /usr/include/xsimd/xsimd.hpp:56, from /usr/include/xtensor/xtensor_config.hpp:75, from /usr/include/xtensor/xbuffer_adaptor.hpp:21, from /usr/include/xtensor/xtensor.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xsimd/arch/xsimd_scalar.hpp: In function ‘std::pair xsimd::sincos(float)’: /usr/include/xsimd/arch/xsimd_scalar.hpp:1180:60: note: parameter passing for argument of type ‘std::pair’ when C++17 is enabled changed to match C++14 in GCC 10.1 1180 | XSIMD_INLINE std::pair sincos(float val) noexcept | ^~~~~~~~ /usr/include/xsimd/arch/xsimd_scalar.hpp: In function ‘std::pair xsimd::sincos(double)’: /usr/include/xsimd/arch/xsimd_scalar.hpp:1187:63: note: parameter passing for argument of type ‘std::pair’ when C++17 is enabled changed to match C++14 in GCC 10.1 1187 | XSIMD_INLINE std::pair sincos(double val) noexcept | ^~~~~~~~ In file included from /usr/include/xsimd/xsimd.hpp:56, from /usr/include/xtensor/xtensor_config.hpp:75, from /usr/include/xtensor/xbuffer_adaptor.hpp:21, from /usr/include/xtensor/xtensor.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/xsimd/arch/xsimd_scalar.hpp: In function ‘std::pair xsimd::sincos(float)’: /usr/include/xsimd/arch/xsimd_scalar.hpp:1180:60: note: parameter passing for argument of type ‘std::pair’ when C++17 is enabled changed to match C++14 in GCC 10.1 1180 | XSIMD_INLINE std::pair sincos(float val) noexcept | ^~~~~~~~ /usr/include/xsimd/arch/xsimd_scalar.hpp: In function ‘std::pair xsimd::sincos(double)’: /usr/include/xsimd/arch/xsimd_scalar.hpp:1187:63: note: parameter passing for argument of type ‘std::pair’ when C++17 is enabled changed to match C++14 in GCC 10.1 1187 | XSIMD_INLINE std::pair sincos(double val) noexcept | ^~~~~~~~ In file included from /usr/include/xtensor/xstorage.hpp:23, from /usr/include/xtensor/xbuffer_adaptor.hpp:22, from /usr/include/xtensor/xtensor.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /usr/include/xtensor/xtensor_simd.hpp: At global scope: /usr/include/xtensor/xtensor_simd.hpp:65:18: error: ‘set_simd’ has not been declared in ‘xsimd’ 65 | using xsimd::set_simd; | ^~~~~~~~ /usr/include/xtensor/xtensor_simd.hpp:66:18: error: ‘load_simd’ has not been declared in ‘xsimd’ 66 | using xsimd::load_simd; | ^~~~~~~~~ /usr/include/xtensor/xtensor_simd.hpp:67:18: error: ‘store_simd’ has not been declared in ‘xsimd’ 67 | using xsimd::store_simd; | ^~~~~~~~~~ In file included from /usr/include/xtensor/xstorage.hpp:23, from /usr/include/xtensor/xbuffer_adaptor.hpp:22, from /usr/include/xtensor/xtensor.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xtensor_simd.hpp: At global scope: /usr/include/xtensor/xtensor_simd.hpp:65:18: error: ‘set_simd’ has not been declared in ‘xsimd’ 65 | using xsimd::set_simd; | ^~~~~~~~ /usr/include/xtensor/xtensor_simd.hpp:66:18: error: ‘load_simd’ has not been declared in ‘xsimd’ 66 | using xsimd::load_simd; | ^~~~~~~~~ /usr/include/xtensor/xtensor_simd.hpp:67:18: error: ‘store_simd’ has not been declared in ‘xsimd’ 67 | using xsimd::store_simd; | ^~~~~~~~~~ In file included from /usr/include/xtensor/xbuffer_adaptor.hpp:21, from /usr/include/xtensor/xtensor.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /usr/include/xtensor/xstorage.hpp:1389:59: error: ‘XSIMD_DEFAULT_ALIGNMENT’ was not declared in this scope; did you mean ‘XTENSOR_DEFAULT_ALIGNMENT’? 1389 | template | ^~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xstorage.hpp:1389:59: error: ‘XSIMD_DEFAULT_ALIGNMENT’ was not declared in this scope; did you mean ‘XTENSOR_DEFAULT_ALIGNMENT’? 1389 | template | ^~~~~~~~~~~~~~~~~~~~ In file included from /usr/include/xtensor/xbuffer_adaptor.hpp:22, from /usr/include/xtensor/xtensor.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /usr/include/xtensor/xstorage.hpp:1605:49: error: template argument 3 is invalid 1605 | struct rebind_container> | ^ /usr/include/xtensor/xstorage.hpp:1605:50: error: template argument 2 is invalid 1605 | struct rebind_container> | ^~ In file included from /usr/include/xtensor/xbuffer_adaptor.hpp:21, from /usr/include/xtensor/xtensor.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xstorage.hpp:1389:59: error: ‘XSIMD_DEFAULT_ALIGNMENT’ was not declared in this scope; did you mean ‘XTENSOR_DEFAULT_ALIGNMENT’? 1389 | template | ^~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xstorage.hpp:1389:59: error: ‘XSIMD_DEFAULT_ALIGNMENT’ was not declared in this scope; did you mean ‘XTENSOR_DEFAULT_ALIGNMENT’? 1389 | template | ^~~~~~~~~~~~~~~~~~~~ In file included from /usr/include/xtensor/xbuffer_adaptor.hpp:22, from /usr/include/xtensor/xtensor.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xstorage.hpp:1605:49: error: template argument 3 is invalid 1605 | struct rebind_container> | ^ /usr/include/xtensor/xstorage.hpp:1605:50: error: template argument 2 is invalid 1605 | struct rebind_container> | ^~ In file included from /usr/include/xtensor/xbuffer_adaptor.hpp:21, from /usr/include/xtensor/xtensor.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /usr/include/xtensor/xtensor_forward.hpp:80:25: error: ‘XSIMD_DEFAULT_ALIGNMENT’ was not declared in this scope; did you mean ‘XTENSOR_DEFAULT_ALIGNMENT’? 80 | class A = XTENSOR_DEFAULT_ALLOCATOR(T), | ^~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xtensor_forward.hpp:80:25: error: template argument 2 is invalid 80 | class A = XTENSOR_DEFAULT_ALLOCATOR(T), | ^~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xtensor_forward.hpp:104:25: error: ‘XSIMD_DEFAULT_ALIGNMENT’ was not declared in this scope; did you mean ‘XTENSOR_DEFAULT_ALIGNMENT’? 104 | class A = XTENSOR_DEFAULT_ALLOCATOR(T), | ^~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xtensor_forward.hpp:104:25: error: template argument 2 is invalid 104 | class A = XTENSOR_DEFAULT_ALLOCATOR(T), | ^~~~~~~~~~~~~~~~~~~~~~~~~ In file included from /usr/include/xtensor/xbuffer_adaptor.hpp:21, from /usr/include/xtensor/xtensor.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xtensor_forward.hpp:80:25: error: ‘XSIMD_DEFAULT_ALIGNMENT’ was not declared in this scope; did you mean ‘XTENSOR_DEFAULT_ALIGNMENT’? 80 | class A = XTENSOR_DEFAULT_ALLOCATOR(T), | ^~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xtensor_forward.hpp:80:25: error: template argument 2 is invalid 80 | class A = XTENSOR_DEFAULT_ALLOCATOR(T), | ^~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xtensor_forward.hpp:135:25: error: ‘XSIMD_DEFAULT_ALIGNMENT’ was not declared in this scope; did you mean ‘XTENSOR_DEFAULT_ALIGNMENT’? 135 | class A = XTENSOR_DEFAULT_ALLOCATOR(T)> | ^~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xtensor_forward.hpp:135:25: error: template argument 2 is invalid 135 | class A = XTENSOR_DEFAULT_ALLOCATOR(T)> | ^~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xtensor_forward.hpp:104:25: error: ‘XSIMD_DEFAULT_ALIGNMENT’ was not declared in this scope; did you mean ‘XTENSOR_DEFAULT_ALIGNMENT’? 104 | class A = XTENSOR_DEFAULT_ALLOCATOR(T), | ^~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xtensor_forward.hpp:104:25: error: template argument 2 is invalid 104 | class A = XTENSOR_DEFAULT_ALLOCATOR(T), | ^~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xtensor_forward.hpp:199:25: error: ‘XSIMD_DEFAULT_ALIGNMENT’ was not declared in this scope; did you mean ‘XTENSOR_DEFAULT_ALIGNMENT’? 199 | class A = XTENSOR_DEFAULT_ALLOCATOR(T), | ^~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xtensor_forward.hpp:199:25: error: template argument 2 is invalid 199 | class A = XTENSOR_DEFAULT_ALLOCATOR(T), | ^~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xtensor_forward.hpp:135:25: error: ‘XSIMD_DEFAULT_ALIGNMENT’ was not declared in this scope; did you mean ‘XTENSOR_DEFAULT_ALIGNMENT’? 135 | class A = XTENSOR_DEFAULT_ALLOCATOR(T)> | ^~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xtensor_forward.hpp:135:25: error: template argument 2 is invalid 135 | class A = XTENSOR_DEFAULT_ALLOCATOR(T)> | ^~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xtensor_forward.hpp:199:25: error: ‘XSIMD_DEFAULT_ALIGNMENT’ was not declared in this scope; did you mean ‘XTENSOR_DEFAULT_ALIGNMENT’? 199 | class A = XTENSOR_DEFAULT_ALLOCATOR(T), | ^~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xtensor_forward.hpp:199:25: error: template argument 2 is invalid 199 | class A = XTENSOR_DEFAULT_ALLOCATOR(T), | ^~~~~~~~~~~~~~~~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:26, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /usr/include/xtensor/xaccumulator.hpp:85:52: error: template argument 3 is invalid 85 | xarray::value_type> accumulator_impl(F&&, E&&, std::size_t, EVS) | ^ /usr/include/xtensor/xaccumulator.hpp:85:52: error: template argument 4 is invalid In file included from /usr/include/xtensor/xmath.hpp:26, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /usr/include/xtensor/xaccumulator.hpp:91:52: error: template argument 3 is invalid 91 | xarray::value_type> accumulator_impl(F&&, E&&, EVS) | ^ /usr/include/xtensor/xaccumulator.hpp:91:52: error: template argument 4 is invalid /usr/include/xtensor/xaccumulator.hpp:99:34: error: template argument 3 is invalid 99 | using type = xarray; | ^ /usr/include/xtensor/xaccumulator.hpp:99:34: error: template argument 4 is invalid /usr/include/xtensor/xaccumulator.hpp:103:52: error: template argument 3 is invalid 103 | struct xaccumulator_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:103:52: error: template argument 4 is invalid /usr/include/xtensor/xaccumulator.hpp:103:56: error: template argument 1 is invalid 103 | struct xaccumulator_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:109:56: error: template argument 4 is invalid 109 | struct xaccumulator_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:109:60: error: template argument 1 is invalid 109 | struct xaccumulator_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:129:38: error: template argument 4 is invalid 129 | using type = xtensor; | ^ /usr/include/xtensor/xaccumulator.hpp:133:59: error: template argument 3 is invalid 133 | struct xaccumulator_linear_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:133:59: error: template argument 4 is invalid /usr/include/xtensor/xaccumulator.hpp:133:63: error: template argument 1 is invalid 133 | struct xaccumulator_linear_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:139:63: error: template argument 4 is invalid 139 | struct xaccumulator_linear_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:139:67: error: template argument 1 is invalid 139 | struct xaccumulator_linear_return_type, R> | ^ In file included from /usr/include/xtensor/xeval.hpp:13, from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /usr/include/xtensor/xexpression_traits.hpp:103:37: error: template argument 3 is invalid 103 | using type = xarray; | ^ /usr/include/xtensor/xexpression_traits.hpp:103:37: error: template argument 4 is invalid /usr/include/xtensor/xexpression_traits.hpp:112:37: error: template argument 3 is invalid 112 | using type = xarray; | ^ /usr/include/xtensor/xexpression_traits.hpp:112:37: error: template argument 4 is invalid /usr/include/xtensor/xexpression_traits.hpp:121:41: error: template argument 4 is invalid 121 | using type = xtensor; | ^ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /usr/include/xtensor/xeval.hpp:96:104: error: template argument 3 is invalid 96 | using as_xarray_container_t = xarray::value_type, layout_remove_any(L)>; | ^ /usr/include/xtensor/xeval.hpp:96:104: error: template argument 4 is invalid /usr/include/xtensor/xeval.hpp:105:68: error: template argument 4 is invalid 105 | layout_remove_any(L)>; | ^ /usr/include/xtensor/xeval.hpp:142:37: error: ‘as_xtensor_container_t’ is not a member of ‘xt::detail’ 142 | detail::as_xtensor_container_t> | ^~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:142:63: error: wrong number of template arguments (3, should be at least 1) 142 | detail::as_xtensor_container_t> | ^ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/memory:63, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /usr/include/xtensor/xeval.hpp:142:37: error: ‘as_xtensor_container_t’ is not a member of ‘xt::detail’ 142 | detail::as_xtensor_container_t> | ^~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:142:64: error: wrong number of template arguments (3, should be at least 1) 142 | detail::as_xtensor_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/memory:63, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /usr/include/xtensor/xeval.hpp:142:37: error: ‘as_xtensor_container_t’ is not a member of ‘xt::detail’ 142 | detail::as_xtensor_container_t> | ^~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:142:64: error: wrong number of template arguments (3, should be at least 1) 142 | detail::as_xtensor_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/memory:63, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /usr/include/xtensor/xeval.hpp:142:37: error: ‘as_xtensor_container_t’ is not a member of ‘xt::detail’ 142 | detail::as_xtensor_container_t> | ^~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:142:64: error: wrong number of template arguments (3, should be at least 1) 142 | detail::as_xtensor_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/memory:63, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /usr/include/xtensor/xeval.hpp:142:37: error: ‘as_xtensor_container_t’ is not a member of ‘xt::detail’ 142 | detail::as_xtensor_container_t> | ^~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:142:64: error: wrong number of template arguments (3, should be at least 1) 142 | detail::as_xtensor_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/memory:63, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /usr/include/xtensor/xeval.hpp:142:37: error: ‘as_xtensor_container_t’ is not a member of ‘xt::detail’ 142 | detail::as_xtensor_container_t> | ^~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:142:64: error: wrong number of template arguments (3, should be at least 1) 142 | detail::as_xtensor_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/memory:63, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /usr/include/xtensor/xeval.hpp:139:12: error: invalid use of template-name ‘std::enable_if_t’ without an argument list 139 | -> std::enable_if_t<(!(has_data_interface>::value | ^~~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/memory:63, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: ‘template using enable_if_t = typename std::enable_if::type’ declared here 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /usr/include/xtensor/xeval.hpp:139:28: error: expected initializer before ‘<’ token 139 | -> std::enable_if_t<(!(has_data_interface>::value | ^ /usr/include/xtensor/xeval.hpp:153:37: error: ‘as_xarray_container_t’ is not a member of ‘xt::detail’ 153 | detail::as_xarray_container_t> | ^~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:153:62: error: wrong number of template arguments (3, should be at least 1) 153 | detail::as_xarray_container_t> | ^ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/memory:63, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /usr/include/xtensor/xeval.hpp:153:37: error: ‘as_xarray_container_t’ is not a member of ‘xt::detail’ 153 | detail::as_xarray_container_t> | ^~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:153:63: error: wrong number of template arguments (3, should be at least 1) 153 | detail::as_xarray_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/memory:63, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /usr/include/xtensor/xeval.hpp:153:37: error: ‘as_xarray_container_t’ is not a member of ‘xt::detail’ 153 | detail::as_xarray_container_t> | ^~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:153:63: error: wrong number of template arguments (3, should be at least 1) 153 | detail::as_xarray_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/memory:63, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /usr/include/xtensor/xeval.hpp:153:37: error: ‘as_xarray_container_t’ is not a member of ‘xt::detail’ 153 | detail::as_xarray_container_t> | ^~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:153:63: error: wrong number of template arguments (3, should be at least 1) 153 | detail::as_xarray_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/memory:63, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /usr/include/xtensor/xeval.hpp:153:37: error: ‘as_xarray_container_t’ is not a member of ‘xt::detail’ 153 | detail::as_xarray_container_t> | ^~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:153:63: error: wrong number of template arguments (3, should be at least 1) 153 | detail::as_xarray_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/memory:63, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /usr/include/xtensor/xeval.hpp:153:37: error: ‘as_xarray_container_t’ is not a member of ‘xt::detail’ 153 | detail::as_xarray_container_t> | ^~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:153:63: error: wrong number of template arguments (3, should be at least 1) 153 | detail::as_xarray_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/memory:63, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /usr/include/xtensor/xeval.hpp:150:12: error: invalid use of template-name ‘std::enable_if_t’ without an argument list 150 | -> std::enable_if_t<(!(has_data_interface>::value | ^~~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/memory:63, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: ‘template using enable_if_t = typename std::enable_if::type’ declared here 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /usr/include/xtensor/xeval.hpp:150:28: error: expected initializer before ‘<’ token 150 | -> std::enable_if_t<(!(has_data_interface>::value | ^ In file included from /usr/include/xtensor/xmath.hpp:26, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xaccumulator.hpp:85:52: error: template argument 3 is invalid 85 | xarray::value_type> accumulator_impl(F&&, E&&, std::size_t, EVS) | ^ /usr/include/xtensor/xaccumulator.hpp:85:52: error: template argument 4 is invalid In file included from /usr/include/xtensor/xmath.hpp:26, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xaccumulator.hpp:91:52: error: template argument 3 is invalid 91 | xarray::value_type> accumulator_impl(F&&, E&&, EVS) | ^ /usr/include/xtensor/xaccumulator.hpp:91:52: error: template argument 4 is invalid /usr/include/xtensor/xaccumulator.hpp:99:34: error: template argument 3 is invalid 99 | using type = xarray; | ^ /usr/include/xtensor/xaccumulator.hpp:99:34: error: template argument 4 is invalid /usr/include/xtensor/xaccumulator.hpp:103:52: error: template argument 3 is invalid 103 | struct xaccumulator_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:103:52: error: template argument 4 is invalid /usr/include/xtensor/xaccumulator.hpp:103:56: error: template argument 1 is invalid 103 | struct xaccumulator_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:109:56: error: template argument 4 is invalid 109 | struct xaccumulator_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:109:60: error: template argument 1 is invalid 109 | struct xaccumulator_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:129:38: error: template argument 4 is invalid 129 | using type = xtensor; | ^ /usr/include/xtensor/xaccumulator.hpp:133:59: error: template argument 3 is invalid 133 | struct xaccumulator_linear_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:133:59: error: template argument 4 is invalid /usr/include/xtensor/xaccumulator.hpp:133:63: error: template argument 1 is invalid 133 | struct xaccumulator_linear_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:139:63: error: template argument 4 is invalid 139 | struct xaccumulator_linear_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:139:67: error: template argument 1 is invalid 139 | struct xaccumulator_linear_return_type, R> | ^ In file included from /usr/include/xtensor/xeval.hpp:13, from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xexpression_traits.hpp:103:37: error: template argument 3 is invalid 103 | using type = xarray; | ^ /usr/include/xtensor/xexpression_traits.hpp:103:37: error: template argument 4 is invalid /usr/include/xtensor/xexpression_traits.hpp:112:37: error: template argument 3 is invalid 112 | using type = xarray; | ^ /usr/include/xtensor/xexpression_traits.hpp:112:37: error: template argument 4 is invalid /usr/include/xtensor/xexpression_traits.hpp:121:41: error: template argument 4 is invalid 121 | using type = xtensor; | ^ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xeval.hpp:96:104: error: template argument 3 is invalid 96 | using as_xarray_container_t = xarray::value_type, layout_remove_any(L)>; | ^ /usr/include/xtensor/xeval.hpp:96:104: error: template argument 4 is invalid /usr/include/xtensor/xeval.hpp:105:68: error: template argument 4 is invalid 105 | layout_remove_any(L)>; | ^ /usr/include/xtensor/xeval.hpp:142:37: error: ‘as_xtensor_container_t’ is not a member of ‘xt::detail’ 142 | detail::as_xtensor_container_t> | ^~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:142:63: error: wrong number of template arguments (3, should be at least 1) 142 | detail::as_xtensor_container_t> | ^ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/char_traits.h:39, from /usr/include/c++/11.4.0/string:40, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xeval.hpp:142:37: error: ‘as_xtensor_container_t’ is not a member of ‘xt::detail’ 142 | detail::as_xtensor_container_t> | ^~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:142:64: error: wrong number of template arguments (3, should be at least 1) 142 | detail::as_xtensor_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/char_traits.h:39, from /usr/include/c++/11.4.0/string:40, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xeval.hpp:142:37: error: ‘as_xtensor_container_t’ is not a member of ‘xt::detail’ 142 | detail::as_xtensor_container_t> | ^~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:142:64: error: wrong number of template arguments (3, should be at least 1) 142 | detail::as_xtensor_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/char_traits.h:39, from /usr/include/c++/11.4.0/string:40, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xeval.hpp:142:37: error: ‘as_xtensor_container_t’ is not a member of ‘xt::detail’ 142 | detail::as_xtensor_container_t> | ^~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:142:64: error: wrong number of template arguments (3, should be at least 1) 142 | detail::as_xtensor_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/char_traits.h:39, from /usr/include/c++/11.4.0/string:40, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xeval.hpp:142:37: error: ‘as_xtensor_container_t’ is not a member of ‘xt::detail’ 142 | detail::as_xtensor_container_t> | ^~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:142:64: error: wrong number of template arguments (3, should be at least 1) 142 | detail::as_xtensor_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/char_traits.h:39, from /usr/include/c++/11.4.0/string:40, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xeval.hpp:142:37: error: ‘as_xtensor_container_t’ is not a member of ‘xt::detail’ 142 | detail::as_xtensor_container_t> | ^~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:142:64: error: wrong number of template arguments (3, should be at least 1) 142 | detail::as_xtensor_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/char_traits.h:39, from /usr/include/c++/11.4.0/string:40, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xeval.hpp:139:12: error: invalid use of template-name ‘std::enable_if_t’ without an argument list 139 | -> std::enable_if_t<(!(has_data_interface>::value | ^~~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/char_traits.h:39, from /usr/include/c++/11.4.0/string:40, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: ‘template using enable_if_t = typename std::enable_if::type’ declared here 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xeval.hpp:139:28: error: expected initializer before ‘<’ token 139 | -> std::enable_if_t<(!(has_data_interface>::value | ^ /usr/include/xtensor/xeval.hpp:153:37: error: ‘as_xarray_container_t’ is not a member of ‘xt::detail’ 153 | detail::as_xarray_container_t> | ^~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:153:62: error: wrong number of template arguments (3, should be at least 1) 153 | detail::as_xarray_container_t> | ^ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/char_traits.h:39, from /usr/include/c++/11.4.0/string:40, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xeval.hpp:153:37: error: ‘as_xarray_container_t’ is not a member of ‘xt::detail’ 153 | detail::as_xarray_container_t> | ^~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:153:63: error: wrong number of template arguments (3, should be at least 1) 153 | detail::as_xarray_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/char_traits.h:39, from /usr/include/c++/11.4.0/string:40, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xeval.hpp:153:37: error: ‘as_xarray_container_t’ is not a member of ‘xt::detail’ 153 | detail::as_xarray_container_t> | ^~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:153:63: error: wrong number of template arguments (3, should be at least 1) 153 | detail::as_xarray_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/char_traits.h:39, from /usr/include/c++/11.4.0/string:40, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xeval.hpp:153:37: error: ‘as_xarray_container_t’ is not a member of ‘xt::detail’ 153 | detail::as_xarray_container_t> | ^~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:153:63: error: wrong number of template arguments (3, should be at least 1) 153 | detail::as_xarray_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/char_traits.h:39, from /usr/include/c++/11.4.0/string:40, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xeval.hpp:153:37: error: ‘as_xarray_container_t’ is not a member of ‘xt::detail’ 153 | detail::as_xarray_container_t> | ^~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:153:63: error: wrong number of template arguments (3, should be at least 1) 153 | detail::as_xarray_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/char_traits.h:39, from /usr/include/c++/11.4.0/string:40, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xeval.hpp:153:37: error: ‘as_xarray_container_t’ is not a member of ‘xt::detail’ 153 | detail::as_xarray_container_t> | ^~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:153:63: error: wrong number of template arguments (3, should be at least 1) 153 | detail::as_xarray_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/char_traits.h:39, from /usr/include/c++/11.4.0/string:40, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xeval.hpp:150:12: error: invalid use of template-name ‘std::enable_if_t’ without an argument list 150 | -> std::enable_if_t<(!(has_data_interface>::value | ^~~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/char_traits.h:39, from /usr/include/c++/11.4.0/string:40, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: ‘template using enable_if_t = typename std::enable_if::type’ declared here 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xeval.hpp:150:28: error: expected initializer before ‘<’ token 150 | -> std::enable_if_t<(!(has_data_interface>::value | ^ In file included from /usr/include/xtensor/xbroadcast.hpp:26, from /usr/include/xtensor/xbuilder.hpp:29, from /usr/include/xtensor/xmanipulation.hpp:13, from /usr/include/xtensor/xmath.hpp:28, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xscalar.hpp: In member function ‘xt_simd::simd_return_type >::value_type, requested_type> xt::xscalar::load_simd(xt::xscalar::size_type) const’: /usr/include/xtensor/xscalar.hpp:964:25: error: ‘set_simd’ is not a member of ‘xt_simd’ 964 | return xt_simd::set_simd(m_value); | ^~~~~~~~ /usr/include/xtensor/xscalar.hpp:964:44: error: expected primary-expression before ‘,’ token 964 | return xt_simd::set_simd(m_value); | ^ /usr/include/xtensor/xscalar.hpp:964:60: error: expected primary-expression before ‘>’ token 964 | return xt_simd::set_simd(m_value); | ^ In file included from /usr/include/xtensor/xbroadcast.hpp:26, from /usr/include/xtensor/xbuilder.hpp:29, from /usr/include/xtensor/xmanipulation.hpp:13, from /usr/include/xtensor/xmath.hpp:28, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /usr/include/xtensor/xscalar.hpp: In member function ‘xt_simd::simd_return_type >::value_type, requested_type> xt::xscalar::load_simd(xt::xscalar::size_type) const’: /usr/include/xtensor/xscalar.hpp:964:25: error: ‘set_simd’ is not a member of ‘xt_simd’ 964 | return xt_simd::set_simd(m_value); | ^~~~~~~~ /usr/include/xtensor/xscalar.hpp:964:44: error: expected primary-expression before ‘,’ token 964 | return xt_simd::set_simd(m_value); | ^ /usr/include/xtensor/xscalar.hpp:964:60: error: expected primary-expression before ‘>’ token 964 | return xt_simd::set_simd(m_value); | ^ In file included from /usr/include/xtensor/xgenerator.hpp:27, from /usr/include/xtensor/xbuilder.hpp:31, from /usr/include/xtensor/xmanipulation.hpp:13, from /usr/include/xtensor/xmath.hpp:28, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xstrided_view.hpp: In member function ‘xt::xstrided_view::enable_simd_interface xt::xstrided_view::store_simd(xt::xstrided_view::size_type, const simd&)’: /usr/include/xtensor/xstrided_view.hpp:619:18: error: ‘store_simd’ is not a member of ‘xt_simd’ 619 | xt_simd::store_simd(&(storage()[i]), e, align_mode()); | ^~~~~~~~~~ /usr/include/xtensor/xstrided_view.hpp:619:39: error: expected primary-expression before ‘,’ token 619 | xt_simd::store_simd(&(storage()[i]), e, align_mode()); | ^ /usr/include/xtensor/xstrided_view.hpp:619:66: error: expected ‘(’ before ‘>’ token 619 | xt_simd::store_simd(&(storage()[i]), e, align_mode()); | ^ | ( /usr/include/xtensor/xstrided_view.hpp: In member function ‘xt::xstrided_view::enable_simd_interface >::value_type, requested_type, xsimd::neon64>::type> xt::xstrided_view::load_simd(xt::xstrided_view::size_type) const’: /usr/include/xtensor/xstrided_view.hpp:628:25: error: ‘load_simd’ is not a member of ‘xt_simd’ 628 | return xt_simd::load_simd(&(storage()[i]), align_mode()); | ^~~~~~~~~ /usr/include/xtensor/xstrided_view.hpp:628:45: error: expected primary-expression before ‘,’ token 628 | return xt_simd::load_simd(&(storage()[i]), align_mode()); | ^ /usr/include/xtensor/xstrided_view.hpp:628:61: error: expected primary-expression before ‘>’ token 628 | return xt_simd::load_simd(&(storage()[i]), align_mode()); | ^ In file included from /usr/include/xtensor/xgenerator.hpp:27, from /usr/include/xtensor/xbuilder.hpp:31, from /usr/include/xtensor/xmanipulation.hpp:13, from /usr/include/xtensor/xmath.hpp:28, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /usr/include/xtensor/xstrided_view.hpp: In member function ‘xt::xstrided_view::enable_simd_interface xt::xstrided_view::store_simd(xt::xstrided_view::size_type, const simd&)’: /usr/include/xtensor/xstrided_view.hpp:619:18: error: ‘store_simd’ is not a member of ‘xt_simd’ 619 | xt_simd::store_simd(&(storage()[i]), e, align_mode()); | ^~~~~~~~~~ /usr/include/xtensor/xstrided_view.hpp:619:39: error: expected primary-expression before ‘,’ token 619 | xt_simd::store_simd(&(storage()[i]), e, align_mode()); | ^ /usr/include/xtensor/xstrided_view.hpp:619:66: error: expected ‘(’ before ‘>’ token 619 | xt_simd::store_simd(&(storage()[i]), e, align_mode()); | ^ | ( /usr/include/xtensor/xstrided_view.hpp: In member function ‘xt::xstrided_view::enable_simd_interface >::value_type, requested_type, xsimd::neon64>::type> xt::xstrided_view::load_simd(xt::xstrided_view::size_type) const’: /usr/include/xtensor/xstrided_view.hpp:628:25: error: ‘load_simd’ is not a member of ‘xt_simd’ 628 | return xt_simd::load_simd(&(storage()[i]), align_mode()); | ^~~~~~~~~ /usr/include/xtensor/xstrided_view.hpp:628:45: error: expected primary-expression before ‘,’ token 628 | return xt_simd::load_simd(&(storage()[i]), align_mode()); | ^ /usr/include/xtensor/xstrided_view.hpp:628:61: error: expected primary-expression before ‘>’ token 628 | return xt_simd::load_simd(&(storage()[i]), align_mode()); | ^ In file included from /usr/include/xtensor/xmanipulation.hpp:13, from /usr/include/xtensor/xmath.hpp:28, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xbuilder.hpp: At global scope: /usr/include/xtensor/xbuilder.hpp:89:23: error: template argument 3 is invalid 89 | inline xarray empty(const S& shape) | ^ /usr/include/xtensor/xbuilder.hpp:89:23: error: template argument 4 is invalid /usr/include/xtensor/xbuilder.hpp: In function ‘int xt::empty(const S&)’: /usr/include/xtensor/xbuilder.hpp:91:27: error: template argument 3 is invalid 91 | return xarray::from_shape(shape); | ^ /usr/include/xtensor/xbuilder.hpp:91:27: error: template argument 4 is invalid /usr/include/xtensor/xbuilder.hpp: At global scope: /usr/include/xtensor/xbuilder.hpp:95:27: error: template argument 4 is invalid 95 | inline xtensor empty(const std::array& shape) | ^ /usr/include/xtensor/xbuilder.hpp: In function ‘int xt::empty(const std::array&)’: /usr/include/xtensor/xbuilder.hpp:97:49: error: template argument 4 is invalid 97 | using shape_type = typename xtensor::shape_type; | ^ /usr/include/xtensor/xbuilder.hpp:98:31: error: template argument 4 is invalid 98 | return xtensor(xtl::forward_sequence(shape)); | ^ In file included from /usr/include/xtensor/xmanipulation.hpp:13, from /usr/include/xtensor/xmath.hpp:28, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /usr/include/xtensor/xbuilder.hpp: At global scope: /usr/include/xtensor/xbuilder.hpp:89:23: error: template argument 3 is invalid 89 | inline xarray empty(const S& shape) | ^ /usr/include/xtensor/xbuilder.hpp:89:23: error: template argument 4 is invalid /usr/include/xtensor/xbuilder.hpp: In function ‘int xt::empty(const S&)’: /usr/include/xtensor/xbuilder.hpp:91:27: error: template argument 3 is invalid 91 | return xarray::from_shape(shape); | ^ /usr/include/xtensor/xbuilder.hpp:91:27: error: template argument 4 is invalid /usr/include/xtensor/xbuilder.hpp: At global scope: /usr/include/xtensor/xbuilder.hpp:95:27: error: template argument 4 is invalid 95 | inline xtensor empty(const std::array& shape) | ^ /usr/include/xtensor/xbuilder.hpp: In function ‘int xt::empty(const std::array&)’: /usr/include/xtensor/xbuilder.hpp:97:49: error: template argument 4 is invalid 97 | using shape_type = typename xtensor::shape_type; | ^ /usr/include/xtensor/xbuilder.hpp:98:31: error: template argument 4 is invalid 98 | return xtensor(xtl::forward_sequence(shape)); | ^ /usr/include/xtensor/xbuilder.hpp:98:55: error: ‘shape_type’ was not declared in this scope 98 | return xtensor(xtl::forward_sequence(shape)); | ^~~~~~~~~~ /usr/include/xtensor/xbuilder.hpp: At global scope: /usr/include/xtensor/xbuilder.hpp:102:27: error: template argument 4 is invalid 102 | inline xtensor empty(const I(&shape)[N]) | ^ /usr/include/xtensor/xbuilder.hpp: In function ‘int xt::empty(const I (&)[N])’: /usr/include/xtensor/xbuilder.hpp:104:49: error: template argument 4 is invalid 104 | using shape_type = typename xtensor::shape_type; | ^ /usr/include/xtensor/xbuilder.hpp:105:31: error: template argument 4 is invalid 105 | return xtensor(xtl::forward_sequence(shape)); | ^ /usr/include/xtensor/xbuilder.hpp:98:55: error: ‘shape_type’ was not declared in this scope 98 | return xtensor(xtl::forward_sequence(shape)); | ^~~~~~~~~~ /usr/include/xtensor/xbuilder.hpp: At global scope: /usr/include/xtensor/xbuilder.hpp:102:27: error: template argument 4 is invalid 102 | inline xtensor empty(const I(&shape)[N]) | ^ /usr/include/xtensor/xbuilder.hpp: In function ‘int xt::empty(const I (&)[N])’: /usr/include/xtensor/xbuilder.hpp:104:49: error: template argument 4 is invalid 104 | using shape_type = typename xtensor::shape_type; | ^ /usr/include/xtensor/xbuilder.hpp:105:31: error: template argument 4 is invalid 105 | return xtensor(xtl::forward_sequence(shape)); | ^ /usr/include/xtensor/xbuilder.hpp:105:55: error: ‘shape_type’ was not declared in this scope 105 | return xtensor(xtl::forward_sequence(shape)); | ^~~~~~~~~~ /usr/include/xtensor/xbuilder.hpp:105:55: error: ‘shape_type’ was not declared in this scope 105 | return xtensor(xtl::forward_sequence(shape)); | ^~~~~~~~~~ In file included from /usr/include/xtensor/xstorage.hpp:23, from /usr/include/xtensor/xbuffer_adaptor.hpp:22, from /usr/include/xtensor/xtensor.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/xtensor/xtensor_simd.hpp: At global scope: /usr/include/xtensor/xtensor_simd.hpp:65:18: error: ‘set_simd’ has not been declared in ‘xsimd’ 65 | using xsimd::set_simd; | ^~~~~~~~ /usr/include/xtensor/xtensor_simd.hpp:66:18: error: ‘load_simd’ has not been declared in ‘xsimd’ 66 | using xsimd::load_simd; | ^~~~~~~~~ /usr/include/xtensor/xtensor_simd.hpp:67:18: error: ‘store_simd’ has not been declared in ‘xsimd’ 67 | using xsimd::store_simd; | ^~~~~~~~~~ In file included from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /usr/include/xtensor/xmath.hpp: In function ‘auto xt::interp(const E1&, const E2&, const E3&, T, T)’: /usr/include/xtensor/xmath.hpp:2895:39: error: template argument 4 is invalid 2895 | auto f = xtensor::from_shape(x.shape()); | ^ In file included from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xmath.hpp: In function ‘auto xt::interp(const E1&, const E2&, const E3&, T, T)’: /usr/include/xtensor/xmath.hpp:2895:39: error: template argument 4 is invalid 2895 | auto f = xtensor::from_shape(x.shape()); | ^ In file included from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /usr/include/xtensor/xcontainer.hpp: In member function ‘void xt::xcontainer::store_simd(xt::xcontainer::size_type, const simd&)’: /usr/include/xtensor/xcontainer.hpp:728:18: error: ‘store_simd’ is not a member of ‘xt_simd’ 728 | xt_simd::store_simd(std::addressof(storage()[i]), e, align_mode()); | ^~~~~~~~~~ /usr/include/xtensor/xcontainer.hpp:728:39: error: expected primary-expression before ‘,’ token 728 | xt_simd::store_simd(std::addressof(storage()[i]), e, align_mode()); | ^ /usr/include/xtensor/xcontainer.hpp:728:66: error: expected ‘(’ before ‘>’ token 728 | xt_simd::store_simd(std::addressof(storage()[i]), e, align_mode()); | ^ | ( /usr/include/xtensor/xcontainer.hpp: In member function ‘xt::container_simd_return_type_t::storage_type, typename xt::xcontainer_inner_types::storage_type::value_type, requested_type> xt::xcontainer::load_simd(xt::xcontainer::size_type) const’: /usr/include/xtensor/xcontainer.hpp:738:25: error: ‘load_simd’ is not a member of ‘xt_simd’ 738 | return xt_simd::load_simd(std::addressof(storage()[i]), align_mode()); | ^~~~~~~~~ /usr/include/xtensor/xcontainer.hpp:738:45: error: expected primary-expression before ‘,’ token 738 | return xt_simd::load_simd(std::addressof(storage()[i]), align_mode()); | ^ /usr/include/xtensor/xcontainer.hpp:738:61: error: expected primary-expression before ‘>’ token 738 | return xt_simd::load_simd(std::addressof(storage()[i]), align_mode()); | ^ In file included from /usr/include/xtensor/xbuffer_adaptor.hpp:21, from /usr/include/xtensor/xtensor.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/xtensor/xstorage.hpp:1389:59: error: ‘XSIMD_DEFAULT_ALIGNMENT’ was not declared in this scope; did you mean ‘XTENSOR_DEFAULT_ALIGNMENT’? 1389 | template | ^~~~~~~~~~~~~~~~~~~~ In file included from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xcontainer.hpp: In member function ‘void xt::xcontainer::store_simd(xt::xcontainer::size_type, const simd&)’: /usr/include/xtensor/xcontainer.hpp:728:18: error: ‘store_simd’ is not a member of ‘xt_simd’ 728 | xt_simd::store_simd(std::addressof(storage()[i]), e, align_mode()); | ^~~~~~~~~~ /usr/include/xtensor/xcontainer.hpp:728:39: error: expected primary-expression before ‘,’ token 728 | xt_simd::store_simd(std::addressof(storage()[i]), e, align_mode()); | ^ /usr/include/xtensor/xcontainer.hpp:728:66: error: expected ‘(’ before ‘>’ token 728 | xt_simd::store_simd(std::addressof(storage()[i]), e, align_mode()); | ^ | ( /usr/include/xtensor/xcontainer.hpp: In member function ‘xt::container_simd_return_type_t::storage_type, typename xt::xcontainer_inner_types::storage_type::value_type, requested_type> xt::xcontainer::load_simd(xt::xcontainer::size_type) const’: /usr/include/xtensor/xcontainer.hpp:738:25: error: ‘load_simd’ is not a member of ‘xt_simd’ 738 | return xt_simd::load_simd(std::addressof(storage()[i]), align_mode()); | ^~~~~~~~~ /usr/include/xtensor/xcontainer.hpp:738:45: error: expected primary-expression before ‘,’ token 738 | return xt_simd::load_simd(std::addressof(storage()[i]), align_mode()); | ^ /usr/include/xtensor/xcontainer.hpp:738:61: error: expected primary-expression before ‘>’ token 738 | return xt_simd::load_simd(std::addressof(storage()[i]), align_mode()); | ^ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /usr/include/xtensor/xtensor.hpp: In function ‘auto xt::from_indices(const std::vector&)’: /usr/include/xtensor/xtensor.hpp:814:62: error: template argument 4 is invalid 814 | using return_type = xtensor; | ^ /usr/include/xtensor/xtensor.hpp:815:36: error: ‘return_type’ has not been declared 815 | using size_type = typename return_type::size_type; | ^~~~~~~~~~~ /usr/include/xtensor/xtensor.hpp:819:20: error: ‘return_type’ has not been declared 819 | return return_type::from_shape({size_type(0), size_type(0)}); | ^~~~~~~~~~~ /usr/include/xtensor/xtensor.hpp:819:45: error: there are no arguments to ‘size_type’ that depend on a template parameter, so a declaration of ‘size_type’ must be available [-fpermissive] 819 | return return_type::from_shape({size_type(0), size_type(0)}); | ^~~~~~~~~ /usr/include/xtensor/xtensor.hpp:819:45: note: (if you use ‘-fpermissive’, G++ will accept your code, but allowing the use of an undeclared name is deprecated) /usr/include/xtensor/xtensor.hpp:819:59: error: there are no arguments to ‘size_type’ that depend on a template parameter, so a declaration of ‘size_type’ must be available [-fpermissive] 819 | return return_type::from_shape({size_type(0), size_type(0)}); | ^~~~~~~~~ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xtensor.hpp: In function ‘auto xt::from_indices(const std::vector&)’: /usr/include/xtensor/xtensor.hpp:814:62: error: template argument 4 is invalid 814 | using return_type = xtensor; | ^ /usr/include/xtensor/xtensor.hpp:815:36: error: ‘return_type’ has not been declared 815 | using size_type = typename return_type::size_type; | ^~~~~~~~~~~ /usr/include/xtensor/xtensor.hpp:819:20: error: ‘return_type’ has not been declared 819 | return return_type::from_shape({size_type(0), size_type(0)}); | ^~~~~~~~~~~ /usr/include/xtensor/xtensor.hpp:819:45: error: there are no arguments to ‘size_type’ that depend on a template parameter, so a declaration of ‘size_type’ must be available [-fpermissive] 819 | return return_type::from_shape({size_type(0), size_type(0)}); | ^~~~~~~~~ /usr/include/xtensor/xtensor.hpp:819:45: note: (if you use ‘-fpermissive’, G++ will accept your code, but allowing the use of an undeclared name is deprecated) /usr/include/xtensor/xtensor.hpp:819:59: error: there are no arguments to ‘size_type’ that depend on a template parameter, so a declaration of ‘size_type’ must be available [-fpermissive] 819 | return return_type::from_shape({size_type(0), size_type(0)}); | ^~~~~~~~~ /usr/include/xtensor/xstorage.hpp:1389:59: error: ‘XSIMD_DEFAULT_ALIGNMENT’ was not declared in this scope; did you mean ‘XTENSOR_DEFAULT_ALIGNMENT’? 1389 | template | ^~~~~~~~~~~~~~~~~~~~ In file included from /usr/include/xtensor/xbuffer_adaptor.hpp:22, from /usr/include/xtensor/xtensor.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/xtensor/xstorage.hpp:1605:49: error: template argument 3 is invalid 1605 | struct rebind_container> | ^ /usr/include/xtensor/xstorage.hpp:1605:50: error: template argument 2 is invalid 1605 | struct rebind_container> | ^~ /usr/include/xtensor/xtensor.hpp:822:9: error: ‘return_type’ was not declared in this scope 822 | return_type out = return_type::from_shape({idx.size(), idx[0].size()}); | ^~~~~~~~~~~ /usr/include/xtensor/xtensor.hpp:822:78: error: expected primary-expression before ‘)’ token 822 | return_type out = return_type::from_shape({idx.size(), idx[0].size()}); | ^ /usr/include/xtensor/xtensor.hpp:822:9: error: ‘return_type’ was not declared in this scope 822 | return_type out = return_type::from_shape({idx.size(), idx[0].size()}); | ^~~~~~~~~~~ /usr/include/xtensor/xtensor.hpp:822:78: error: expected primary-expression before ‘)’ token 822 | return_type out = return_type::from_shape({idx.size(), idx[0].size()}); | ^ /usr/include/xtensor/xtensor.hpp:824:14: error: ‘size_type’ was not declared in this scope; did you mean ‘size_t’? 824 | for (size_type i = 0; i < out.shape()[0]; ++i) | ^~~~~~~~~ | size_t /usr/include/xtensor/xtensor.hpp:824:14: error: ‘size_type’ was not declared in this scope; did you mean ‘size_t’? 824 | for (size_type i = 0; i < out.shape()[0]; ++i) | ^~~~~~~~~ | size_t /usr/include/xtensor/xtensor.hpp:824:31: error: ‘i’ was not declared in this scope 824 | for (size_type i = 0; i < out.shape()[0]; ++i) | ^ /usr/include/xtensor/xtensor.hpp:824:31: error: ‘i’ was not declared in this scope 824 | for (size_type i = 0; i < out.shape()[0]; ++i) | ^ /usr/include/xtensor/xtensor.hpp:824:35: error: ‘out’ was not declared in this scope 824 | for (size_type i = 0; i < out.shape()[0]; ++i) | ^~~ /usr/include/xtensor/xtensor.hpp:826:27: error: expected ‘;’ before ‘j’ 826 | for (size_type j = 0; j < out.shape()[1]; ++j) | ^~ | ; /usr/include/xtensor/xtensor.hpp:824:35: error: ‘out’ was not declared in this scope 824 | for (size_type i = 0; i < out.shape()[0]; ++i) | ^~~ /usr/include/xtensor/xtensor.hpp:826:27: error: expected ‘;’ before ‘j’ 826 | for (size_type j = 0; j < out.shape()[1]; ++j) | ^~ | ; /usr/include/xtensor/xtensor.hpp:826:35: error: ‘j’ was not declared in this scope 826 | for (size_type j = 0; j < out.shape()[1]; ++j) | ^ /usr/include/xtensor/xtensor.hpp:826:35: error: ‘j’ was not declared in this scope 826 | for (size_type j = 0; j < out.shape()[1]; ++j) | ^ /usr/include/xtensor/xtensor.hpp:832:16: error: ‘out’ was not declared in this scope 832 | return out; | ^~~ /usr/include/xtensor/xtensor.hpp: In function ‘auto xt::flatten_indices(const std::vector&)’: /usr/include/xtensor/xtensor.hpp:852:62: error: template argument 4 is invalid 852 | using return_type = xtensor; | ^ /usr/include/xtensor/xtensor.hpp:832:16: error: ‘out’ was not declared in this scope 832 | return out; | ^~~ /usr/include/xtensor/xtensor.hpp: In function ‘auto xt::flatten_indices(const std::vector&)’: /usr/include/xtensor/xtensor.hpp:852:62: error: template argument 4 is invalid 852 | using return_type = xtensor; | ^ /usr/include/xtensor/xtensor.hpp:853:9: error: ‘return_type’ was not declared in this scope 853 | return_type out = return_type::from_shape({n}); | ^~~~~~~~~~~ /usr/include/xtensor/xtensor.hpp:853:54: error: expected primary-expression before ‘)’ token 853 | return_type out = return_type::from_shape({n}); | ^ /usr/include/xtensor/xtensor.hpp:853:9: error: ‘return_type’ was not declared in this scope 853 | return_type out = return_type::from_shape({n}); | ^~~~~~~~~~~ /usr/include/xtensor/xtensor.hpp:853:54: error: expected primary-expression before ‘)’ token 853 | return_type out = return_type::from_shape({n}); | ^ /usr/include/xtensor/xtensor.hpp:854:21: error: ‘out’ was not declared in this scope 854 | auto iter = out.begin(); | ^~~ /usr/include/xtensor/xtensor.hpp: In lambda function: /usr/include/xtensor/xtensor.hpp:855:67: error: ‘iter’ is not captured 855 | for_each(idx.begin(), idx.end(), [&iter](const auto& t) { iter = std::copy(t.cbegin(), t.cend(), iter); }); | ^~~~ /usr/include/xtensor/xtensor.hpp:855:48: note: the lambda has no capture-default 855 | for_each(idx.begin(), idx.end(), [&iter](const auto& t) { iter = std::copy(t.cbegin(), t.cend(), iter); }); | ^ /usr/include/xtensor/xtensor.hpp:854:14: note: ‘iter’ declared here 854 | auto iter = out.begin(); | ^~~~ /usr/include/xtensor/xtensor.hpp:855:106: error: ‘iter’ is not captured 855 | for_each(idx.begin(), idx.end(), [&iter](const auto& t) { iter = std::copy(t.cbegin(), t.cend(), iter); }); | ^~~~ /usr/include/xtensor/xtensor.hpp:855:48: note: the lambda has no capture-default 855 | for_each(idx.begin(), idx.end(), [&iter](const auto& t) { iter = std::copy(t.cbegin(), t.cend(), iter); }); | ^ /usr/include/xtensor/xtensor.hpp:854:14: note: ‘iter’ declared here 854 | auto iter = out.begin(); | ^~~~ /usr/include/xtensor/xtensor.hpp: At global scope: /usr/include/xtensor/xtensor.hpp:887:51: error: template argument 4 is invalid 887 | using type = xt::xtensor; | ^ /usr/include/xtensor/xtensor.hpp:890:45: error: template argument 4 is invalid 890 | static xt::xtensor init(T n) | ^ /usr/include/xtensor/xtensor.hpp: In static member function ‘static int xt::detail::ravel_return_type::init(T)’: /usr/include/xtensor/xtensor.hpp:892:45: error: template argument 4 is invalid 892 | return xtensor::from_shape({n}); | ^ /usr/include/xtensor/xtensor.hpp:854:21: error: ‘out’ was not declared in this scope 854 | auto iter = out.begin(); | ^~~ /usr/include/xtensor/xtensor.hpp: In lambda function: /usr/include/xtensor/xtensor.hpp:855:67: error: ‘iter’ is not captured 855 | for_each(idx.begin(), idx.end(), [&iter](const auto& t) { iter = std::copy(t.cbegin(), t.cend(), iter); }); | ^~~~ /usr/include/xtensor/xtensor.hpp:855:48: note: the lambda has no capture-default 855 | for_each(idx.begin(), idx.end(), [&iter](const auto& t) { iter = std::copy(t.cbegin(), t.cend(), iter); }); | ^ /usr/include/xtensor/xtensor.hpp:854:14: note: ‘iter’ declared here 854 | auto iter = out.begin(); | ^~~~ /usr/include/xtensor/xtensor.hpp:855:106: error: ‘iter’ is not captured 855 | for_each(idx.begin(), idx.end(), [&iter](const auto& t) { iter = std::copy(t.cbegin(), t.cend(), iter); }); | ^~~~ /usr/include/xtensor/xtensor.hpp:855:48: note: the lambda has no capture-default 855 | for_each(idx.begin(), idx.end(), [&iter](const auto& t) { iter = std::copy(t.cbegin(), t.cend(), iter); }); | ^ /usr/include/xtensor/xtensor.hpp:854:14: note: ‘iter’ declared here 854 | auto iter = out.begin(); | ^~~~ /usr/include/xtensor/xtensor.hpp: At global scope: /usr/include/xtensor/xtensor.hpp:887:51: error: template argument 4 is invalid 887 | using type = xt::xtensor; | ^ /usr/include/xtensor/xtensor.hpp:890:45: error: template argument 4 is invalid 890 | static xt::xtensor init(T n) | ^ /usr/include/xtensor/xtensor.hpp: In static member function ‘static int xt::detail::ravel_return_type::init(T)’: /usr/include/xtensor/xtensor.hpp:892:45: error: template argument 4 is invalid 892 | return xtensor::from_shape({n}); | ^ In file included from /usr/include/xtensor/xview.hpp:35, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xview_utils.hpp: At global scope: /usr/include/xtensor/xview_utils.hpp:69:41: error: template argument 3 is invalid 69 | using type = xt::xarray; | ^ /usr/include/xtensor/xview_utils.hpp:69:41: error: template argument 4 is invalid /usr/include/xtensor/xview_utils.hpp:75:96: error: template argument 4 is invalid 75 | using type = xt::xtensor() - integral_count(), L>; | ^ In file included from /usr/include/xtensor/xbuffer_adaptor.hpp:21, from /usr/include/xtensor/xtensor.hpp:19, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/xtensor/xtensor_forward.hpp:80:25: error: ‘XSIMD_DEFAULT_ALIGNMENT’ was not declared in this scope; did you mean ‘XTENSOR_DEFAULT_ALIGNMENT’? 80 | class A = XTENSOR_DEFAULT_ALLOCATOR(T), | ^~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xtensor_forward.hpp:80:25: error: template argument 2 is invalid 80 | class A = XTENSOR_DEFAULT_ALLOCATOR(T), | ^~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xtensor_forward.hpp:104:25: error: ‘XSIMD_DEFAULT_ALIGNMENT’ was not declared in this scope; did you mean ‘XTENSOR_DEFAULT_ALIGNMENT’? 104 | class A = XTENSOR_DEFAULT_ALLOCATOR(T), | ^~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xtensor_forward.hpp:104:25: error: template argument 2 is invalid 104 | class A = XTENSOR_DEFAULT_ALLOCATOR(T), | ^~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xtensor_forward.hpp:135:25: error: ‘XSIMD_DEFAULT_ALIGNMENT’ was not declared in this scope; did you mean ‘XTENSOR_DEFAULT_ALIGNMENT’? 135 | class A = XTENSOR_DEFAULT_ALLOCATOR(T)> | ^~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xtensor_forward.hpp:135:25: error: template argument 2 is invalid 135 | class A = XTENSOR_DEFAULT_ALLOCATOR(T)> | ^~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xtensor_forward.hpp:199:25: error: ‘XSIMD_DEFAULT_ALIGNMENT’ was not declared in this scope; did you mean ‘XTENSOR_DEFAULT_ALIGNMENT’? 199 | class A = XTENSOR_DEFAULT_ALLOCATOR(T), | ^~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xtensor_forward.hpp:199:25: error: template argument 2 is invalid 199 | class A = XTENSOR_DEFAULT_ALLOCATOR(T), | ^~~~~~~~~~~~~~~~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:26, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/xtensor/xaccumulator.hpp:85:52: error: template argument 3 is invalid 85 | xarray::value_type> accumulator_impl(F&&, E&&, std::size_t, EVS) | ^ /usr/include/xtensor/xaccumulator.hpp:85:52: error: template argument 4 is invalid In file included from /usr/include/xtensor/xmath.hpp:26, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/xtensor/xaccumulator.hpp:91:52: error: template argument 3 is invalid 91 | xarray::value_type> accumulator_impl(F&&, E&&, EVS) | ^ /usr/include/xtensor/xaccumulator.hpp:91:52: error: template argument 4 is invalid /usr/include/xtensor/xaccumulator.hpp:99:34: error: template argument 3 is invalid 99 | using type = xarray; | ^ /usr/include/xtensor/xaccumulator.hpp:99:34: error: template argument 4 is invalid /usr/include/xtensor/xaccumulator.hpp:103:52: error: template argument 3 is invalid 103 | struct xaccumulator_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:103:52: error: template argument 4 is invalid /usr/include/xtensor/xaccumulator.hpp:103:56: error: template argument 1 is invalid 103 | struct xaccumulator_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:109:56: error: template argument 4 is invalid 109 | struct xaccumulator_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:109:60: error: template argument 1 is invalid 109 | struct xaccumulator_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:129:38: error: template argument 4 is invalid 129 | using type = xtensor; | ^ /usr/include/xtensor/xaccumulator.hpp:133:59: error: template argument 3 is invalid 133 | struct xaccumulator_linear_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:133:59: error: template argument 4 is invalid /usr/include/xtensor/xaccumulator.hpp:133:63: error: template argument 1 is invalid 133 | struct xaccumulator_linear_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:139:63: error: template argument 4 is invalid 139 | struct xaccumulator_linear_return_type, R> | ^ /usr/include/xtensor/xaccumulator.hpp:139:67: error: template argument 1 is invalid 139 | struct xaccumulator_linear_return_type, R> | ^ In file included from /usr/include/xtensor/xeval.hpp:13, from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/xtensor/xexpression_traits.hpp:103:37: error: template argument 3 is invalid 103 | using type = xarray; | ^ /usr/include/xtensor/xexpression_traits.hpp:103:37: error: template argument 4 is invalid /usr/include/xtensor/xexpression_traits.hpp:112:37: error: template argument 3 is invalid 112 | using type = xarray; | ^ /usr/include/xtensor/xexpression_traits.hpp:112:37: error: template argument 4 is invalid /usr/include/xtensor/xexpression_traits.hpp:121:41: error: template argument 4 is invalid 121 | using type = xtensor; | ^ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/xtensor/xeval.hpp:96:104: error: template argument 3 is invalid 96 | using as_xarray_container_t = xarray::value_type, layout_remove_any(L)>; | ^ /usr/include/xtensor/xeval.hpp:96:104: error: template argument 4 is invalid /usr/include/xtensor/xeval.hpp:105:68: error: template argument 4 is invalid 105 | layout_remove_any(L)>; | ^ /usr/include/xtensor/xeval.hpp:142:37: error: ‘as_xtensor_container_t’ is not a member of ‘xt::detail’ 142 | detail::as_xtensor_container_t> | ^~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:142:63: error: wrong number of template arguments (3, should be at least 1) 142 | detail::as_xtensor_container_t> | ^ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/memory:63, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/xtensor/xeval.hpp:142:37: error: ‘as_xtensor_container_t’ is not a member of ‘xt::detail’ 142 | detail::as_xtensor_container_t> | ^~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:142:64: error: wrong number of template arguments (3, should be at least 1) 142 | detail::as_xtensor_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/memory:63, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/xtensor/xeval.hpp:142:37: error: ‘as_xtensor_container_t’ is not a member of ‘xt::detail’ 142 | detail::as_xtensor_container_t> | ^~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:142:64: error: wrong number of template arguments (3, should be at least 1) 142 | detail::as_xtensor_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/memory:63, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/xtensor/xeval.hpp:142:37: error: ‘as_xtensor_container_t’ is not a member of ‘xt::detail’ 142 | detail::as_xtensor_container_t> | ^~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:142:64: error: wrong number of template arguments (3, should be at least 1) 142 | detail::as_xtensor_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/memory:63, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/xtensor/xeval.hpp:142:37: error: ‘as_xtensor_container_t’ is not a member of ‘xt::detail’ 142 | detail::as_xtensor_container_t> | ^~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:142:64: error: wrong number of template arguments (3, should be at least 1) 142 | detail::as_xtensor_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/memory:63, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/xtensor/xeval.hpp:142:37: error: ‘as_xtensor_container_t’ is not a member of ‘xt::detail’ 142 | detail::as_xtensor_container_t> | ^~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:142:64: error: wrong number of template arguments (3, should be at least 1) 142 | detail::as_xtensor_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/memory:63, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/xtensor/xeval.hpp:139:12: error: invalid use of template-name ‘std::enable_if_t’ without an argument list 139 | -> std::enable_if_t<(!(has_data_interface>::value | ^~~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/memory:63, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: ‘template using enable_if_t = typename std::enable_if::type’ declared here 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/xtensor/xeval.hpp:139:28: error: expected initializer before ‘<’ token 139 | -> std::enable_if_t<(!(has_data_interface>::value | ^ /usr/include/xtensor/xeval.hpp:153:37: error: ‘as_xarray_container_t’ is not a member of ‘xt::detail’ 153 | detail::as_xarray_container_t> | ^~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:153:62: error: wrong number of template arguments (3, should be at least 1) 153 | detail::as_xarray_container_t> | ^ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/memory:63, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/xtensor/xeval.hpp:153:37: error: ‘as_xarray_container_t’ is not a member of ‘xt::detail’ 153 | detail::as_xarray_container_t> | ^~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:153:63: error: wrong number of template arguments (3, should be at least 1) 153 | detail::as_xarray_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/memory:63, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/xtensor/xeval.hpp:153:37: error: ‘as_xarray_container_t’ is not a member of ‘xt::detail’ 153 | detail::as_xarray_container_t> | ^~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:153:63: error: wrong number of template arguments (3, should be at least 1) 153 | detail::as_xarray_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/memory:63, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/xtensor/xeval.hpp:153:37: error: ‘as_xarray_container_t’ is not a member of ‘xt::detail’ 153 | detail::as_xarray_container_t> | ^~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:153:63: error: wrong number of template arguments (3, should be at least 1) 153 | detail::as_xarray_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/memory:63, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/xtensor/xeval.hpp:153:37: error: ‘as_xarray_container_t’ is not a member of ‘xt::detail’ 153 | detail::as_xarray_container_t> | ^~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:153:63: error: wrong number of template arguments (3, should be at least 1) 153 | detail::as_xarray_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/memory:63, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/xtensor/xeval.hpp:153:37: error: ‘as_xarray_container_t’ is not a member of ‘xt::detail’ 153 | detail::as_xarray_container_t> | ^~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xeval.hpp:153:63: error: wrong number of template arguments (3, should be at least 1) 153 | detail::as_xarray_container_t> | ^~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/memory:63, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: provided for ‘template using enable_if_t = typename std::enable_if::type’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/xtensor/xeval.hpp:150:12: error: invalid use of template-name ‘std::enable_if_t’ without an argument list 150 | -> std::enable_if_t<(!(has_data_interface>::value | ^~~ In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/memory:63, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/c++/11.4.0/type_traits:2579:11: note: ‘template using enable_if_t = typename std::enable_if::type’ declared here 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /usr/include/xtensor/xmath.hpp:27, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/xtensor/xeval.hpp:150:28: error: expected initializer before ‘<’ token 150 | -> std::enable_if_t<(!(has_data_interface>::value | ^ In file included from /usr/include/xtensor/xbroadcast.hpp:26, from /usr/include/xtensor/xbuilder.hpp:29, from /usr/include/xtensor/xmanipulation.hpp:13, from /usr/include/xtensor/xmath.hpp:28, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/xtensor/xscalar.hpp: In member function ‘xt_simd::simd_return_type >::value_type, requested_type> xt::xscalar::load_simd(xt::xscalar::size_type) const’: /usr/include/xtensor/xscalar.hpp:964:25: error: ‘set_simd’ is not a member of ‘xt_simd’ 964 | return xt_simd::set_simd(m_value); | ^~~~~~~~ /usr/include/xtensor/xscalar.hpp:964:44: error: expected primary-expression before ‘,’ token 964 | return xt_simd::set_simd(m_value); | ^ /usr/include/xtensor/xscalar.hpp:964:60: error: expected primary-expression before ‘>’ token 964 | return xt_simd::set_simd(m_value); | ^ In file included from /usr/include/xtensor/xgenerator.hpp:27, from /usr/include/xtensor/xbuilder.hpp:31, from /usr/include/xtensor/xmanipulation.hpp:13, from /usr/include/xtensor/xmath.hpp:28, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/xtensor/xstrided_view.hpp: In member function ‘xt::xstrided_view::enable_simd_interface xt::xstrided_view::store_simd(xt::xstrided_view::size_type, const simd&)’: /usr/include/xtensor/xstrided_view.hpp:619:18: error: ‘store_simd’ is not a member of ‘xt_simd’ 619 | xt_simd::store_simd(&(storage()[i]), e, align_mode()); | ^~~~~~~~~~ /usr/include/xtensor/xstrided_view.hpp:619:39: error: expected primary-expression before ‘,’ token 619 | xt_simd::store_simd(&(storage()[i]), e, align_mode()); | ^ /usr/include/xtensor/xstrided_view.hpp:619:66: error: expected ‘(’ before ‘>’ token 619 | xt_simd::store_simd(&(storage()[i]), e, align_mode()); | ^ | ( /usr/include/xtensor/xstrided_view.hpp: In member function ‘xt::xstrided_view::enable_simd_interface >::value_type, requested_type, xsimd::neon64>::type> xt::xstrided_view::load_simd(xt::xstrided_view::size_type) const’: /usr/include/xtensor/xstrided_view.hpp:628:25: error: ‘load_simd’ is not a member of ‘xt_simd’ 628 | return xt_simd::load_simd(&(storage()[i]), align_mode()); | ^~~~~~~~~ /usr/include/xtensor/xstrided_view.hpp:628:45: error: expected primary-expression before ‘,’ token 628 | return xt_simd::load_simd(&(storage()[i]), align_mode()); | ^ /usr/include/xtensor/xstrided_view.hpp:628:61: error: expected primary-expression before ‘>’ token 628 | return xt_simd::load_simd(&(storage()[i]), align_mode()); | ^ In file included from /usr/include/xtensor/xmanipulation.hpp:13, from /usr/include/xtensor/xmath.hpp:28, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/xtensor/xbuilder.hpp: At global scope: /usr/include/xtensor/xbuilder.hpp:89:23: error: template argument 3 is invalid 89 | inline xarray empty(const S& shape) | ^ /usr/include/xtensor/xbuilder.hpp:89:23: error: template argument 4 is invalid /usr/include/xtensor/xbuilder.hpp: In function ‘int xt::empty(const S&)’: /usr/include/xtensor/xbuilder.hpp:91:27: error: template argument 3 is invalid 91 | return xarray::from_shape(shape); | ^ /usr/include/xtensor/xbuilder.hpp:91:27: error: template argument 4 is invalid /usr/include/xtensor/xbuilder.hpp: At global scope: /usr/include/xtensor/xbuilder.hpp:95:27: error: template argument 4 is invalid 95 | inline xtensor empty(const std::array& shape) | ^ /usr/include/xtensor/xbuilder.hpp: In function ‘int xt::empty(const std::array&)’: /usr/include/xtensor/xbuilder.hpp:97:49: error: template argument 4 is invalid 97 | using shape_type = typename xtensor::shape_type; | ^ /usr/include/xtensor/xbuilder.hpp:98:31: error: template argument 4 is invalid 98 | return xtensor(xtl::forward_sequence(shape)); | ^ /usr/include/xtensor/xbuilder.hpp:98:55: error: ‘shape_type’ was not declared in this scope 98 | return xtensor(xtl::forward_sequence(shape)); | ^~~~~~~~~~ /usr/include/xtensor/xbuilder.hpp: At global scope: /usr/include/xtensor/xbuilder.hpp:102:27: error: template argument 4 is invalid 102 | inline xtensor empty(const I(&shape)[N]) | ^ /usr/include/xtensor/xbuilder.hpp: In function ‘int xt::empty(const I (&)[N])’: /usr/include/xtensor/xbuilder.hpp:104:49: error: template argument 4 is invalid 104 | using shape_type = typename xtensor::shape_type; | ^ /usr/include/xtensor/xbuilder.hpp:105:31: error: template argument 4 is invalid 105 | return xtensor(xtl::forward_sequence(shape)); | ^ /usr/include/xtensor/xbuilder.hpp:105:55: error: ‘shape_type’ was not declared in this scope 105 | return xtensor(xtl::forward_sequence(shape)); | ^~~~~~~~~~ In file included from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/xtensor/xmath.hpp: In function ‘auto xt::interp(const E1&, const E2&, const E3&, T, T)’: /usr/include/xtensor/xmath.hpp:2895:39: error: template argument 4 is invalid 2895 | auto f = xtensor::from_shape(x.shape()); | ^ In file included from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/xtensor/xcontainer.hpp: In member function ‘void xt::xcontainer::store_simd(xt::xcontainer::size_type, const simd&)’: /usr/include/xtensor/xcontainer.hpp:728:18: error: ‘store_simd’ is not a member of ‘xt_simd’ 728 | xt_simd::store_simd(std::addressof(storage()[i]), e, align_mode()); | ^~~~~~~~~~ /usr/include/xtensor/xcontainer.hpp:728:39: error: expected primary-expression before ‘,’ token 728 | xt_simd::store_simd(std::addressof(storage()[i]), e, align_mode()); | ^ /usr/include/xtensor/xcontainer.hpp:728:66: error: expected ‘(’ before ‘>’ token 728 | xt_simd::store_simd(std::addressof(storage()[i]), e, align_mode()); | ^ | ( /usr/include/xtensor/xcontainer.hpp: In member function ‘xt::container_simd_return_type_t::storage_type, typename xt::xcontainer_inner_types::storage_type::value_type, requested_type> xt::xcontainer::load_simd(xt::xcontainer::size_type) const’: /usr/include/xtensor/xcontainer.hpp:738:25: error: ‘load_simd’ is not a member of ‘xt_simd’ 738 | return xt_simd::load_simd(std::addressof(storage()[i]), align_mode()); | ^~~~~~~~~ /usr/include/xtensor/xcontainer.hpp:738:45: error: expected primary-expression before ‘,’ token 738 | return xt_simd::load_simd(std::addressof(storage()[i]), align_mode()); | ^ /usr/include/xtensor/xcontainer.hpp:738:61: error: expected primary-expression before ‘>’ token 738 | return xt_simd::load_simd(std::addressof(storage()[i]), align_mode()); | ^ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/xtensor/xtensor.hpp: In function ‘auto xt::from_indices(const std::vector<_Ch_type>&)’: /usr/include/xtensor/xtensor.hpp:814:62: error: template argument 4 is invalid 814 | using return_type = xtensor; | ^ /usr/include/xtensor/xtensor.hpp:815:36: error: ‘return_type’ has not been declared 815 | using size_type = typename return_type::size_type; | ^~~~~~~~~~~ /usr/include/xtensor/xtensor.hpp:819:20: error: ‘return_type’ has not been declared 819 | return return_type::from_shape({size_type(0), size_type(0)}); | ^~~~~~~~~~~ /usr/include/xtensor/xtensor.hpp:819:45: error: there are no arguments to ‘size_type’ that depend on a template parameter, so a declaration of ‘size_type’ must be available [-fpermissive] 819 | return return_type::from_shape({size_type(0), size_type(0)}); | ^~~~~~~~~ /usr/include/xtensor/xtensor.hpp:819:45: note: (if you use ‘-fpermissive’, G++ will accept your code, but allowing the use of an undeclared name is deprecated) /usr/include/xtensor/xtensor.hpp:819:59: error: there are no arguments to ‘size_type’ that depend on a template parameter, so a declaration of ‘size_type’ must be available [-fpermissive] 819 | return return_type::from_shape({size_type(0), size_type(0)}); | ^~~~~~~~~ /usr/include/xtensor/xtensor.hpp:822:9: error: ‘return_type’ was not declared in this scope 822 | return_type out = return_type::from_shape({idx.size(), idx[0].size()}); | ^~~~~~~~~~~ /usr/include/xtensor/xtensor.hpp:822:78: error: expected primary-expression before ‘)’ token 822 | return_type out = return_type::from_shape({idx.size(), idx[0].size()}); | ^ /usr/include/xtensor/xtensor.hpp:824:14: error: ‘size_type’ was not declared in this scope; did you mean ‘size_t’? 824 | for (size_type i = 0; i < out.shape()[0]; ++i) | ^~~~~~~~~ | size_t /usr/include/xtensor/xtensor.hpp:824:31: error: ‘i’ was not declared in this scope 824 | for (size_type i = 0; i < out.shape()[0]; ++i) | ^ /usr/include/xtensor/xtensor.hpp:824:35: error: ‘out’ was not declared in this scope 824 | for (size_type i = 0; i < out.shape()[0]; ++i) | ^~~ /usr/include/xtensor/xtensor.hpp:826:27: error: expected ‘;’ before ‘j’ 826 | for (size_type j = 0; j < out.shape()[1]; ++j) | ^~ | ; /usr/include/xtensor/xtensor.hpp:826:35: error: ‘j’ was not declared in this scope 826 | for (size_type j = 0; j < out.shape()[1]; ++j) | ^ /usr/include/xtensor/xtensor.hpp:832:16: error: ‘out’ was not declared in this scope 832 | return out; | ^~~ /usr/include/xtensor/xtensor.hpp: In function ‘auto xt::flatten_indices(const std::vector<_Ch_type>&)’: /usr/include/xtensor/xtensor.hpp:852:62: error: template argument 4 is invalid 852 | using return_type = xtensor; | ^ /usr/include/xtensor/xtensor.hpp:853:9: error: ‘return_type’ was not declared in this scope 853 | return_type out = return_type::from_shape({n}); | ^~~~~~~~~~~ /usr/include/xtensor/xtensor.hpp:853:54: error: expected primary-expression before ‘)’ token 853 | return_type out = return_type::from_shape({n}); | ^ /usr/include/xtensor/xtensor.hpp:854:21: error: ‘out’ was not declared in this scope 854 | auto iter = out.begin(); | ^~~ /usr/include/xtensor/xtensor.hpp: In lambda function: /usr/include/xtensor/xtensor.hpp:855:67: error: ‘iter’ is not captured 855 | for_each(idx.begin(), idx.end(), [&iter](const auto& t) { iter = std::copy(t.cbegin(), t.cend(), iter); }); | ^~~~ /usr/include/xtensor/xtensor.hpp:855:48: note: the lambda has no capture-default 855 | for_each(idx.begin(), idx.end(), [&iter](const auto& t) { iter = std::copy(t.cbegin(), t.cend(), iter); }); | ^ /usr/include/xtensor/xtensor.hpp:854:14: note: ‘iter’ declared here 854 | auto iter = out.begin(); | ^~~~ /usr/include/xtensor/xtensor.hpp:855:106: error: ‘iter’ is not captured 855 | for_each(idx.begin(), idx.end(), [&iter](const auto& t) { iter = std::copy(t.cbegin(), t.cend(), iter); }); | ^~~~ /usr/include/xtensor/xtensor.hpp:855:48: note: the lambda has no capture-default 855 | for_each(idx.begin(), idx.end(), [&iter](const auto& t) { iter = std::copy(t.cbegin(), t.cend(), iter); }); | ^ /usr/include/xtensor/xtensor.hpp:854:14: note: ‘iter’ declared here 854 | auto iter = out.begin(); | ^~~~ /usr/include/xtensor/xtensor.hpp: At global scope: /usr/include/xtensor/xtensor.hpp:887:51: error: template argument 4 is invalid 887 | using type = xt::xtensor; | ^ /usr/include/xtensor/xtensor.hpp:890:45: error: template argument 4 is invalid 890 | static xt::xtensor init(T n) | ^ /usr/include/xtensor/xtensor.hpp: In static member function ‘static int xt::detail::ravel_return_type::init(T)’: /usr/include/xtensor/xtensor.hpp:892:45: error: template argument 4 is invalid 892 | return xtensor::from_shape({n}); | ^ In file included from /usr/include/xtensor/xview.hpp:35, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:29, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:28, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /usr/include/xtensor/xview_utils.hpp: At global scope: /usr/include/xtensor/xview_utils.hpp:69:41: error: template argument 3 is invalid 69 | using type = xt::xarray; | ^ /usr/include/xtensor/xview_utils.hpp:69:41: error: template argument 4 is invalid /usr/include/xtensor/xview_utils.hpp:75:96: error: template argument 4 is invalid 75 | using type = xt::xtensor() - integral_count(), L>; | ^ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:35, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:38:23: error: template argument 4 is invalid 38 | xt::xtensor vx; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:39:23: error: template argument 4 is invalid 39 | xt::xtensor vy; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:40:23: error: template argument 4 is invalid 40 | xt::xtensor wz; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp: In member function ‘void mppi::models::ControlSequence::reset(unsigned int)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:44:26: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 44 | vx = xt::zeros({time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:45:26: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 45 | vy = xt::zeros({time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:46:26: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 46 | wz = xt::zeros({time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:35, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp: At global scope: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:32:23: error: template argument 4 is invalid 32 | xt::xtensor vx; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:33:23: error: template argument 4 is invalid 33 | xt::xtensor vy; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:34:23: error: template argument 4 is invalid 34 | xt::xtensor wz; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:36:23: error: template argument 4 is invalid 36 | xt::xtensor cvx; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:37:23: error: template argument 4 is invalid 37 | xt::xtensor cvy; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:38:23: error: template argument 4 is invalid 38 | xt::xtensor cwz; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp: In member function ‘void mppi::models::State::reset(unsigned int, unsigned int)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:48:26: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 48 | vx = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:49:26: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 49 | vy = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:50:26: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 50 | wz = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:52:27: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 52 | cvx = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:53:27: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 53 | cvy = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:54:27: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 54 | cwz = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:23, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:35, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xmasked_view.hpp: At global scope: /usr/include/xtensor/xmasked_view.hpp:51:84: error: template argument 3 is invalid 51 | using temporary_type = xarray>; | ^~ /usr/include/xtensor/xmasked_view.hpp:51:84: error: template argument 4 is invalid In file included from /usr/include/xtensor/xstrided_view_base.hpp:19, from /usr/include/xtensor/xstrided_view.hpp:27, from /usr/include/xtensor/xgenerator.hpp:27, from /usr/include/xtensor/xbuilder.hpp:31, from /usr/include/xtensor/xmanipulation.hpp:13, from /usr/include/xtensor/xmath.hpp:28, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xslice.hpp: In instantiation of ‘struct xt::detail::get_slice_type_impl’: /usr/include/xtensor/xview.hpp:1773:19: required from ‘auto xt::detail::make_view_impl(E&&, std::index_sequence, S&& ...) [with E = int&; long unsigned int ...I = {0, 1}; S = {xt::xall_tag, xt::xrange_adaptor}; std::index_sequence = std::integer_sequence]’ /usr/include/xtensor/xview.hpp:1792:38: required from ‘auto xt::view(E&&, S&& ...) [with E = int&; S = {xt::xall_tag, xt::xrange_adaptor}]’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:56:25: required from here /usr/include/xtensor/xslice.hpp:995:19: error: ‘int’ is not a class, struct, or union type 995 | using type = xall; | ^~~~ /usr/include/xtensor/xslice.hpp: In instantiation of ‘auto xt::detail::slice_implementation_getter::operator()(E&, SL&&, std::size_t) const [with E = int; SL = xt::xall_tag; std::size_t = long unsigned int]’: /usr/include/xtensor/xslice.hpp:977:22: required from ‘auto xt::get_slice_implementation(E&, SL&&, std::size_t) [with E = int; SL = xt::xall_tag; std::size_t = long unsigned int]’ /usr/include/xtensor/xview.hpp:1775:41: required from ‘auto xt::detail::make_view_impl(E&&, std::index_sequence, S&& ...) [with E = int&; long unsigned int ...I = {0, 1}; S = {xt::xall_tag, xt::xrange_adaptor}; std::index_sequence = std::integer_sequence]’ /usr/include/xtensor/xview.hpp:1792:38: required from ‘auto xt::view(E&&, S&& ...) [with E = int&; S = {xt::xall_tag, xt::xrange_adaptor}]’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:56:25: required from here /usr/include/xtensor/xslice.hpp:948:24: error: ‘int’ is not a class, struct, or union type 948 | return xall(e.shape()[index]); | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xslice.hpp:948:54: error: request for member ‘shape’ in ‘e’, which is of non-class type ‘int’ 948 | return xall(e.shape()[index]); | ~~^~~~~ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:35, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp: In member function ‘virtual void mppi::AckermannMotionModel::applyConstraints(mppi::models::ControlSequence&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:115:45: error: no matching function for call to ‘fabs(int&)’ 115 | auto view = xt::masked_view(wz, xt::fabs(vx) / xt::fabs(wz) < min_turning_r_); | ~~~~~~~~^~~~ In file included from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xmath.hpp:444:17: note: candidate: ‘template xt::detail::xfunction_type_t xt::fabs(E&&)’ 444 | inline auto fabs(E&& e) noexcept | ^~~~ /usr/include/xtensor/xmath.hpp:444:17: note: template argument deduction/substitution failed: In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/char_traits.h:39, from /usr/include/c++/11.4.0/string:40, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/c++/11.4.0/type_traits: In substitution of ‘template using enable_if_t = typename std::enable_if::type [with bool _Cond = false; _Tp = xt::detail::xfunction_type]’: /usr/include/xtensor/xoperation.hpp:211:15: required by substitution of ‘template using xfunction_type_t = typename std::enable_if::type>::type>...>::value, xt::detail::xfunction_type >::type::type [with F = xt::math::fabs_fun; E = {int&}]’ /usr/include/xtensor/xmath.hpp:444:17: required by substitution of ‘template xt::detail::xfunction_type_t xt::fabs(E&&) [with E = int&]’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:115:45: required from here /usr/include/c++/11.4.0/type_traits:2579:11: error: no type named ‘type’ in ‘struct std::enable_if >’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:35, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:115:60: error: no matching function for call to ‘fabs(int&)’ 115 | auto view = xt::masked_view(wz, xt::fabs(vx) / xt::fabs(wz) < min_turning_r_); | ~~~~~~~~^~~~ In file included from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xmath.hpp:444:17: note: candidate: ‘template xt::detail::xfunction_type_t xt::fabs(E&&)’ 444 | inline auto fabs(E&& e) noexcept | ^~~~ /usr/include/xtensor/xmath.hpp:444:17: note: template argument deduction/substitution failed: In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:35, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:116:20: error: no matching function for call to ‘sign(int&)’ 116 | view = xt::sign(wz) * vx / min_turning_r_; | ~~~~~~~~^~~~ In file included from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xmath.hpp:851:17: note: candidate: ‘template xt::detail::xfunction_type_t xt::sign(E&&)’ 851 | inline auto sign(E&& e) noexcept | ^~~~ /usr/include/xtensor/xmath.hpp:851:17: note: template argument deduction/substitution failed: In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/char_traits.h:39, from /usr/include/c++/11.4.0/string:40, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/c++/11.4.0/type_traits: In substitution of ‘template using enable_if_t = typename std::enable_if::type [with bool _Cond = false; _Tp = xt::detail::xfunction_type]’: /usr/include/xtensor/xoperation.hpp:211:15: required by substitution of ‘template using xfunction_type_t = typename std::enable_if::type>::type>...>::value, xt::detail::xfunction_type >::type::type [with F = xt::math::sign_fun; E = {int&}]’ /usr/include/xtensor/xmath.hpp:851:17: required by substitution of ‘template xt::detail::xfunction_type_t xt::sign(E&&) [with E = int&]’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:116:20: required from here /usr/include/c++/11.4.0/type_traits:2579:11: error: no type named ‘type’ in ‘struct std::enable_if >’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:48, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:31, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:36, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp: At global scope: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp:29:23: error: template argument 4 is invalid 29 | xt::xtensor x; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp:30:23: error: template argument 4 is invalid 30 | xt::xtensor y; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp:31:23: error: template argument 4 is invalid 31 | xt::xtensor yaws; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp: In member function ‘void mppi::models::Path::reset(unsigned int)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp:38:25: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 38 | x = xt::zeros({size}); | ~~~~~~~~~~~~~~~~^~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp:39:25: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 39 | y = xt::zeros({size}); | ~~~~~~~~~~~~~~~~^~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp:40:28: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 40 | yaws = xt::zeros({size}); | ~~~~~~~~~~~~~~~~^~~~~~~~ | | | xt::xbroadcast, std::array > In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:50, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:31, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:36, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp: At global scope: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:30:23: error: template argument 4 is invalid 30 | xt::xtensor x; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:31:23: error: template argument 4 is invalid 31 | xt::xtensor y; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:32:23: error: template argument 4 is invalid 32 | xt::xtensor yaws; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp: In member function ‘void mppi::models::Trajectories::reset(unsigned int, unsigned int)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:39:25: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 39 | x = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:40:25: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 40 | y = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:41:28: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 41 | yaws = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:50, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:31, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:36, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp: At global scope: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:44:23: error: template argument 4 is invalid 44 | xt::xtensor & costs; | ^ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:31, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:36, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘mppi::models::Path mppi::utils::toTensor(const Path&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:186:13: error: expression cannot be used as a function 186 | result.x(i) = path.poses[i].pose.position.x; | ~~~~~~~~^~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:187:13: error: expression cannot be used as a function 187 | result.y(i) = path.poses[i].pose.position.y; | ~~~~~~~~^~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:188:16: error: expression cannot be used as a function 188 | result.yaws(i) = tf2::getYaw(path.poses[i].pose.orientation); | ~~~~~~~~~~~^~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘bool mppi::utils::withinPositionGoalTolerance(nav2_core::GoalChecker*, const Pose&, const mppi::models::Path&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:206:32: error: request for member ‘shape’ in ‘path.mppi::models::Path::x’, which is of non-class type ‘const int’ 206 | const auto goal_idx = path.x.shape(0) - 1; | ^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:207:29: error: expression cannot be used as a function 207 | const auto goal_x = path.x(goal_idx); | ~~~~~~^~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:208:29: error: expression cannot be used as a function 208 | const auto goal_y = path.y(goal_idx); | ~~~~~~^~~~~~~~~~ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:47, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:28, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:38:23: error: template argument 4 is invalid 38 | xt::xtensor vx; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:39:23: error: template argument 4 is invalid 39 | xt::xtensor vy; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:40:23: error: template argument 4 is invalid 40 | xt::xtensor wz; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘bool mppi::utils::withinPositionGoalTolerance(float, const Pose&, const mppi::models::Path&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:242:32: error: request for member ‘shape’ in ‘path.mppi::models::Path::x’, which is of non-class type ‘const int’ 242 | const auto goal_idx = path.x.shape(0) - 1; | ^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:243:29: error: expression cannot be used as a function 243 | const auto goal_x = path.x(goal_idx); | ~~~~~~^~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:244:29: error: expression cannot be used as a function 244 | const auto goal_y = path.y(goal_idx); | ~~~~~~^~~~~~~~~~ In file included from /usr/include/xtensor/xstrided_view_base.hpp:19, from /usr/include/xtensor/xstrided_view.hpp:27, from /usr/include/xtensor/xgenerator.hpp:27, from /usr/include/xtensor/xbuilder.hpp:31, from /usr/include/xtensor/xmanipulation.hpp:13, from /usr/include/xtensor/xmath.hpp:28, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xslice.hpp: In instantiation of ‘auto xt::detail::slice_implementation_getter::operator()(E&, SL&&, std::size_t) const [with E = const int; SL = xt::xall_tag; std::size_t = long unsigned int]’: /usr/include/xtensor/xslice.hpp:977:22: required from ‘auto xt::get_slice_implementation(E&, SL&&, std::size_t) [with E = const int; SL = xt::xall_tag; std::size_t = long unsigned int]’ /usr/include/xtensor/xview.hpp:1775:41: required from ‘auto xt::detail::make_view_impl(E&&, std::index_sequence, S&& ...) [with E = const int&; long unsigned int ...I = {0, 1, 2}; S = {xt::xall_tag, int, xt::xnewaxis_tag}; std::index_sequence = std::integer_sequence]’ /usr/include/xtensor/xview.hpp:1792:38: required from ‘auto xt::view(E&&, S&& ...) [with E = const int&; S = {xt::xall_tag, int, xt::xnewaxis_tag}]’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:303:31: required from here /usr/include/xtensor/xslice.hpp:948:24: error: ‘const int’ is not a class, struct, or union type 948 | return xall(e.shape()[index]); | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xslice.hpp:948:54: error: request for member ‘shape’ in ‘e’, which is of non-class type ‘const int’ 948 | return xall(e.shape()[index]); | ~~^~~~~ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:31, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:36, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘size_t mppi::utils::findPathTrajectoryInitialPoint(const mppi::CriticData&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:339:52: error: expression cannot be used as a function 339 | const auto dx = data.path.x - data.trajectories.x(0, 0); | ~~~~~~~~~~~~~~~~~~~^~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:340:52: error: expression cannot be used as a function 340 | const auto dy = data.path.y - data.trajectories.y(0, 0); | ~~~~~~~~~~~~~~~~~~~^~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘void mppi::utils::findPathCosts(mppi::CriticData&, std::shared_ptr)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:376:50: error: request for member ‘shape’ in ‘data.mppi::CriticData::path.mppi::models::Path::x’, which is of non-class type ‘const int’ 376 | const size_t path_segments_count = data.path.x.shape(0) - 1; | ^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:379:36: error: expression cannot be used as a function 379 | const auto path_x = data.path.x(idx); | ~~~~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:380:36: error: expression cannot be used as a function 380 | const auto path_y = data.path.y(idx); | ~~~~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘void mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:457:19: error: template argument 3 is invalid 457 | xt::xarray filter = {-21.0, 14.0, 39.0, 54.0, 59.0, 54.0, 39.0, 14.0, -21.0}; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:457:19: error: template argument 4 is invalid /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:457:21: error: scalar object ‘filter’ requires one element in initializer 457 | xt::xarray filter = {-21.0, 14.0, 39.0, 54.0, 59.0, 54.0, 39.0, 14.0, -21.0}; | ^~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:460:58: error: request for member ‘shape’ in ‘control_sequence.mppi::models::ControlSequence::vx’, which is of non-class type ‘int’ 460 | const unsigned int num_sequences = control_sequence.vx.shape(0) - 1; | ^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:48: error: template argument 3 is invalid 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:48: error: template argument 4 is invalid /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:472:29: error: template argument 4 is invalid 472 | [&](xt::xtensor & sequence, | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In lambda function: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:476:15: error: expression cannot be used as a function 476 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:482:17: error: expression cannot be used as a function 482 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:483:17: error: expression cannot be used as a function 483 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:484:17: error: expression cannot be used as a function 484 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:485:17: error: expression cannot be used as a function 485 | sequence(idx + 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:486:17: error: expression cannot be used as a function 486 | sequence(idx + 4)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:476:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 476 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 477 | { | ~ 478 | hist_0, | ~~~~~~~ 479 | hist_1, | ~~~~~~~ 480 | hist_2, | ~~~~~~~ 481 | hist_3, | ~~~~~~~ 482 | sequence(idx), | ~~~~~~~~~~~~~~ 483 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 484 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 485 | sequence(idx + 3), | ~~~~~~~~~~~~~~~~~~ 486 | sequence(idx + 4)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:489:15: error: expression cannot be used as a function 489 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:494:17: error: expression cannot be used as a function 494 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:495:17: error: expression cannot be used as a function 495 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:496:17: error: expression cannot be used as a function 496 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:497:17: error: expression cannot be used as a function 497 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:498:17: error: expression cannot be used as a function 498 | sequence(idx + 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:499:17: error: expression cannot be used as a function 499 | sequence(idx + 4)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:489:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 489 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 490 | { | ~ 491 | hist_1, | ~~~~~~~ 492 | hist_2, | ~~~~~~~ 493 | hist_3, | ~~~~~~~ 494 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 495 | sequence(idx), | ~~~~~~~~~~~~~~ 496 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 497 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 498 | sequence(idx + 3), | ~~~~~~~~~~~~~~~~~~ 499 | sequence(idx + 4)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:502:15: error: expression cannot be used as a function 502 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:506:17: error: expression cannot be used as a function 506 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:507:17: error: expression cannot be used as a function 507 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:508:17: error: expression cannot be used as a function 508 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:509:17: error: expression cannot be used as a function 509 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:510:17: error: expression cannot be used as a function 510 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:511:17: error: expression cannot be used as a function 511 | sequence(idx + 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:512:17: error: expression cannot be used as a function 512 | sequence(idx + 4)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:502:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 502 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 503 | { | ~ 504 | hist_2, | ~~~~~~~ 505 | hist_3, | ~~~~~~~ 506 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 507 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 508 | sequence(idx), | ~~~~~~~~~~~~~~ 509 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 510 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 511 | sequence(idx + 3), | ~~~~~~~~~~~~~~~~~~ 512 | sequence(idx + 4)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:515:15: error: expression cannot be used as a function 515 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:518:17: error: expression cannot be used as a function 518 | sequence(idx - 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:519:17: error: expression cannot be used as a function 519 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:520:17: error: expression cannot be used as a function 520 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:521:17: error: expression cannot be used as a function 521 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:522:17: error: expression cannot be used as a function 522 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:523:17: error: expression cannot be used as a function 523 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:524:17: error: expression cannot be used as a function 524 | sequence(idx + 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:525:17: error: expression cannot be used as a function 525 | sequence(idx + 4)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:515:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 515 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 516 | { | ~ 517 | hist_3, | ~~~~~~~ 518 | sequence(idx - 3), | ~~~~~~~~~~~~~~~~~~ 519 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 520 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 521 | sequence(idx), | ~~~~~~~~~~~~~~ 522 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 523 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 524 | sequence(idx + 3), | ~~~~~~~~~~~~~~~~~~ 525 | sequence(idx + 4)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:528:17: error: expression cannot be used as a function 528 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:530:19: error: expression cannot be used as a function 530 | sequence(idx - 4), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:531:19: error: expression cannot be used as a function 531 | sequence(idx - 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:532:19: error: expression cannot be used as a function 532 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:533:19: error: expression cannot be used as a function 533 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:534:19: error: expression cannot be used as a function 534 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:535:19: error: expression cannot be used as a function 535 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:536:19: error: expression cannot be used as a function 536 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:537:19: error: expression cannot be used as a function 537 | sequence(idx + 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:538:19: error: expression cannot be used as a function 538 | sequence(idx + 4)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:528:36: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 528 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 529 | { | ~ 530 | sequence(idx - 4), | ~~~~~~~~~~~~~~~~~~ 531 | sequence(idx - 3), | ~~~~~~~~~~~~~~~~~~ 532 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 533 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 534 | sequence(idx), | ~~~~~~~~~~~~~~ 535 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 536 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 537 | sequence(idx + 3), | ~~~~~~~~~~~~~~~~~~ 538 | sequence(idx + 4)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:542:15: error: expression cannot be used as a function 542 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:544:17: error: expression cannot be used as a function 544 | sequence(idx - 4), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:545:17: error: expression cannot be used as a function 545 | sequence(idx - 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:546:17: error: expression cannot be used as a function 546 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:547:17: error: expression cannot be used as a function 547 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:548:17: error: expression cannot be used as a function 548 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:549:17: error: expression cannot be used as a function 549 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:550:17: error: expression cannot be used as a function 550 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:551:17: error: expression cannot be used as a function 551 | sequence(idx + 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:552:17: error: expression cannot be used as a function 552 | sequence(idx + 3)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:542:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 542 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 543 | { | ~ 544 | sequence(idx - 4), | ~~~~~~~~~~~~~~~~~~ 545 | sequence(idx - 3), | ~~~~~~~~~~~~~~~~~~ 546 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 547 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 548 | sequence(idx), | ~~~~~~~~~~~~~~ 549 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 550 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 551 | sequence(idx + 3), | ~~~~~~~~~~~~~~~~~~ 552 | sequence(idx + 3)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:555:15: error: expression cannot be used as a function 555 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:557:17: error: expression cannot be used as a function 557 | sequence(idx - 4), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:558:17: error: expression cannot be used as a function 558 | sequence(idx - 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:559:17: error: expression cannot be used as a function 559 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:560:17: error: expression cannot be used as a function 560 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:561:17: error: expression cannot be used as a function 561 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:562:17: error: expression cannot be used as a function 562 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:563:17: error: expression cannot be used as a function 563 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:564:17: error: expression cannot be used as a function 564 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:565:17: error: expression cannot be used as a function 565 | sequence(idx + 2)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:555:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 555 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 556 | { | ~ 557 | sequence(idx - 4), | ~~~~~~~~~~~~~~~~~~ 558 | sequence(idx - 3), | ~~~~~~~~~~~~~~~~~~ 559 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 560 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 561 | sequence(idx), | ~~~~~~~~~~~~~~ 562 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 563 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 564 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 565 | sequence(idx + 2)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:568:15: error: expression cannot be used as a function 568 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:570:17: error: expression cannot be used as a function 570 | sequence(idx - 4), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:571:17: error: expression cannot be used as a function 571 | sequence(idx - 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:572:17: error: expression cannot be used as a function 572 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:573:17: error: expression cannot be used as a function 573 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:574:17: error: expression cannot be used as a function 574 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:575:17: error: expression cannot be used as a function 575 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:576:17: error: expression cannot be used as a function 576 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:577:17: error: expression cannot be used as a function 577 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:578:17: error: expression cannot be used as a function 578 | sequence(idx + 1)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:568:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 568 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 569 | { | ~ 570 | sequence(idx - 4), | ~~~~~~~~~~~~~~~~~~ 571 | sequence(idx - 3), | ~~~~~~~~~~~~~~~~~~ 572 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 573 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 574 | sequence(idx), | ~~~~~~~~~~~~~~ 575 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 576 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 577 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 578 | sequence(idx + 1)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:581:15: error: expression cannot be used as a function 581 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:583:17: error: expression cannot be used as a function 583 | sequence(idx - 4), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:584:17: error: expression cannot be used as a function 584 | sequence(idx - 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:585:17: error: expression cannot be used as a function 585 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:586:17: error: expression cannot be used as a function 586 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:587:17: error: expression cannot be used as a function 587 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:588:17: error: expression cannot be used as a function 588 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:589:17: error: expression cannot be used as a function 589 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:590:17: error: expression cannot be used as a function 590 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:591:17: error: expression cannot be used as a function 591 | sequence(idx)}); | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:581:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 581 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 582 | { | ~ 583 | sequence(idx - 4), | ~~~~~~~~~~~~~~~~~~ 584 | sequence(idx - 3), | ~~~~~~~~~~~~~~~~~~ 585 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 586 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 587 | sequence(idx), | ~~~~~~~~~~~~~~ 588 | sequence(idx), | ~~~~~~~~~~~~~~ 589 | sequence(idx), | ~~~~~~~~~~~~~~ 590 | sequence(idx), | ~~~~~~~~~~~~~~ 591 | sequence(idx)}); | ~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp: In member function ‘void mppi::models::ControlSequence::reset(unsigned int)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:44:26: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 44 | vx = xt::zeros({time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:45:26: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 45 | vy = xt::zeros({time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:46:26: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 46 | wz = xt::zeros({time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:48, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:28, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp: At global scope: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp:29:23: error: template argument 4 is invalid 29 | xt::xtensor x; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp:30:23: error: template argument 4 is invalid 30 | xt::xtensor y; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp:31:23: error: template argument 4 is invalid 31 | xt::xtensor yaws; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp: In member function ‘void mppi::models::Path::reset(unsigned int)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp:38:25: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 38 | x = xt::zeros({size}); | ~~~~~~~~~~~~~~~~^~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp:39:25: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 39 | y = xt::zeros({size}); | ~~~~~~~~~~~~~~~~^~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp:40:28: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 40 | yaws = xt::zeros({size}); | ~~~~~~~~~~~~~~~~^~~~~~~~ | | | xt::xbroadcast, std::array > In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:50, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:28, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp: At global scope: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:32:23: error: template argument 4 is invalid 32 | xt::xtensor vx; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:33:23: error: template argument 4 is invalid 33 | xt::xtensor vy; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:34:23: error: template argument 4 is invalid 34 | xt::xtensor wz; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:36:23: error: template argument 4 is invalid 36 | xt::xtensor cvx; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:37:23: error: template argument 4 is invalid 37 | xt::xtensor cvy; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:38:23: error: template argument 4 is invalid 38 | xt::xtensor cwz; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘void mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:611:24: error: expression cannot be used as a function 611 | control_sequence.vx(offset), | ~~~~~~~~~~~~~~~~~~~^~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:612:24: error: expression cannot be used as a function 612 | control_sequence.vy(offset), | ~~~~~~~~~~~~~~~~~~~^~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:613:24: error: expression cannot be used as a function 613 | control_sequence.wz(offset)}; | ~~~~~~~~~~~~~~~~~~~^~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:613:32: error: no match for ‘operator=’ (operand types are ‘std::array::value_type’ {aka ‘mppi::models::Control’} and ‘’) 613 | control_sequence.wz(offset)}; | ^ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:35, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:27:8: note: candidate: ‘constexpr mppi::models::Control& mppi::models::Control::operator=(const mppi::models::Control&)’ 27 | struct Control | ^~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:27:8: note: no known conversion for argument 1 from ‘’ to ‘const mppi::models::Control&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:27:8: note: candidate: ‘constexpr mppi::models::Control& mppi::models::Control::operator=(mppi::models::Control&&)’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:27:8: note: no known conversion for argument 1 from ‘’ to ‘mppi::models::Control&&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp: In member function ‘void mppi::models::State::reset(unsigned int, unsigned int)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:48:26: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 48 | vx = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:49:26: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 49 | vy = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:50:26: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 50 | wz = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:52:27: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 52 | cvx = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:53:27: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 53 | cvy = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:54:27: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 54 | cwz = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:50, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:28, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp: At global scope: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:30:23: error: template argument 4 is invalid 30 | xt::xtensor x; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:31:23: error: template argument 4 is invalid 31 | xt::xtensor y; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:32:23: error: template argument 4 is invalid 32 | xt::xtensor yaws; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp: In member function ‘void mppi::models::Trajectories::reset(unsigned int, unsigned int)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:39:25: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 39 | x = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:40:25: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 40 | y = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:41:28: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 41 | yaws = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > In file included from /usr/include/xtensor/xview.hpp:35, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:29, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:31, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/xtensor/xview_utils.hpp: At global scope: /usr/include/xtensor/xview_utils.hpp:69:41: error: template argument 3 is invalid 69 | using type = xt::xarray; | ^ /usr/include/xtensor/xview_utils.hpp:69:41: error: template argument 4 is invalid /usr/include/xtensor/xview_utils.hpp:75:96: error: template argument 4 is invalid 75 | using type = xt::xtensor() - integral_count(), L>; | ^ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:23, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:27, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:50, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:28, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /usr/include/xtensor/xmasked_view.hpp: At global scope: /usr/include/xtensor/xmasked_view.hpp:51:84: error: template argument 3 is invalid 51 | using temporary_type = xarray>; | ^~ /usr/include/xtensor/xmasked_view.hpp:51:84: error: template argument 4 is invalid In file included from /usr/include/xtensor/xstrided_view_base.hpp:19, from /usr/include/xtensor/xstrided_view.hpp:27, from /usr/include/xtensor/xgenerator.hpp:27, from /usr/include/xtensor/xbuilder.hpp:31, from /usr/include/xtensor/xmanipulation.hpp:13, from /usr/include/xtensor/xmath.hpp:28, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /usr/include/xtensor/xslice.hpp: In instantiation of ‘struct xt::detail::get_slice_type_impl’: /usr/include/xtensor/xview.hpp:1773:19: required from ‘auto xt::detail::make_view_impl(E&&, std::index_sequence, S&& ...) [with E = int&; long unsigned int ...I = {0, 1}; S = {xt::xall_tag, xt::xrange_adaptor}; std::index_sequence = std::integer_sequence]’ /usr/include/xtensor/xview.hpp:1792:38: required from ‘auto xt::view(E&&, S&& ...) [with E = int&; S = {xt::xall_tag, xt::xrange_adaptor}]’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:56:25: required from here /usr/include/xtensor/xslice.hpp:995:19: error: ‘int’ is not a class, struct, or union type 995 | using type = xall; | ^~~~ /usr/include/xtensor/xslice.hpp: In instantiation of ‘auto xt::detail::slice_implementation_getter::operator()(E&, SL&&, std::size_t) const [with E = int; SL = xt::xall_tag; std::size_t = long unsigned int]’: /usr/include/xtensor/xslice.hpp:977:22: required from ‘auto xt::get_slice_implementation(E&, SL&&, std::size_t) [with E = int; SL = xt::xall_tag; std::size_t = long unsigned int]’ /usr/include/xtensor/xview.hpp:1775:41: required from ‘auto xt::detail::make_view_impl(E&&, std::index_sequence, S&& ...) [with E = int&; long unsigned int ...I = {0, 1}; S = {xt::xall_tag, xt::xrange_adaptor}; std::index_sequence = std::integer_sequence]’ /usr/include/xtensor/xview.hpp:1792:38: required from ‘auto xt::view(E&&, S&& ...) [with E = int&; S = {xt::xall_tag, xt::xrange_adaptor}]’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:56:25: required from here /usr/include/xtensor/xslice.hpp:948:24: error: ‘int’ is not a class, struct, or union type 948 | return xall(e.shape()[index]); | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xslice.hpp:948:54: error: request for member ‘shape’ in ‘e’, which is of non-class type ‘int’ 948 | return xall(e.shape()[index]); | ~~^~~~~ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:27, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:50, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:28, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp: In member function ‘virtual void mppi::AckermannMotionModel::applyConstraints(mppi::models::ControlSequence&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:115:45: error: no matching function for call to ‘fabs(int&)’ 115 | auto view = xt::masked_view(wz, xt::fabs(vx) / xt::fabs(wz) < min_turning_r_); | ~~~~~~~~^~~~ In file included from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /usr/include/xtensor/xmath.hpp:444:17: note: candidate: ‘template xt::detail::xfunction_type_t xt::fabs(E&&)’ 444 | inline auto fabs(E&& e) noexcept | ^~~~ /usr/include/xtensor/xmath.hpp:444:17: note: template argument deduction/substitution failed: In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/memory:63, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:15: /usr/include/c++/11.4.0/type_traits: In substitution of ‘template using enable_if_t = typename std::enable_if::type [with bool _Cond = false; _Tp = xt::detail::xfunction_type]’: /usr/include/xtensor/xoperation.hpp:211:15: required by substitution of ‘template using xfunction_type_t = typename std::enable_if::type>::type>...>::value, xt::detail::xfunction_type >::type::type [with F = xt::math::fabs_fun; E = {int&}]’ /usr/include/xtensor/xmath.hpp:444:17: required by substitution of ‘template xt::detail::xfunction_type_t xt::fabs(E&&) [with E = int&]’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:115:45: required from here /usr/include/c++/11.4.0/type_traits:2579:11: error: no type named ‘type’ in ‘struct std::enable_if >’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:27, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:50, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:28, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:115:60: error: no matching function for call to ‘fabs(int&)’ 115 | auto view = xt::masked_view(wz, xt::fabs(vx) / xt::fabs(wz) < min_turning_r_); | ~~~~~~~~^~~~ In file included from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /usr/include/xtensor/xmath.hpp:444:17: note: candidate: ‘template xt::detail::xfunction_type_t xt::fabs(E&&)’ 444 | inline auto fabs(E&& e) noexcept | ^~~~ /usr/include/xtensor/xmath.hpp:444:17: note: template argument deduction/substitution failed: In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:27, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:50, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:28, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:116:20: error: no matching function for call to ‘sign(int&)’ 116 | view = xt::sign(wz) * vx / min_turning_r_; | ~~~~~~~~^~~~ In file included from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /usr/include/xtensor/xmath.hpp:851:17: note: candidate: ‘template xt::detail::xfunction_type_t xt::sign(E&&)’ 851 | inline auto sign(E&& e) noexcept | ^~~~ /usr/include/xtensor/xmath.hpp:851:17: note: template argument deduction/substitution failed: In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/memory:63, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:15: /usr/include/c++/11.4.0/type_traits: In substitution of ‘template using enable_if_t = typename std::enable_if::type [with bool _Cond = false; _Tp = xt::detail::xfunction_type]’: /usr/include/xtensor/xoperation.hpp:211:15: required by substitution of ‘template using xfunction_type_t = typename std::enable_if::type>::type>...>::value, xt::detail::xfunction_type >::type::type [with F = xt::math::sign_fun; E = {int&}]’ /usr/include/xtensor/xmath.hpp:851:17: required by substitution of ‘template xt::detail::xfunction_type_t xt::sign(E&&) [with E = int&]’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:116:20: required from here /usr/include/c++/11.4.0/type_traits:2579:11: error: no type named ‘type’ in ‘struct std::enable_if >’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:50, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:28, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp: At global scope: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:44:23: error: template argument 4 is invalid 44 | xt::xtensor & costs; | ^ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:40, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/noise_generator.hpp: At global scope: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/noise_generator.hpp:97:23: error: template argument 4 is invalid 97 | xt::xtensor noises_vx_; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/noise_generator.hpp:98:23: error: template argument 4 is invalid 98 | xt::xtensor noises_vy_; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/noise_generator.hpp:99:23: error: template argument 4 is invalid 99 | xt::xtensor noises_wz_; | ^ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:105:23: error: template argument 4 is invalid 105 | xt::xtensor getOptimizedTrajectory(); | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:199:25: error: template argument 4 is invalid 199 | xt::xtensor & trajectories, | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:200:31: error: template argument 4 is invalid 200 | const xt::xtensor & state) const; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:253:23: error: template argument 4 is invalid 253 | xt::xtensor costs_; | ^ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:28, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘mppi::models::Path mppi::utils::toTensor(const Path&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:186:13: error: expression cannot be used as a function 186 | result.x(i) = path.poses[i].pose.position.x; | ~~~~~~~~^~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:187:13: error: expression cannot be used as a function 187 | result.y(i) = path.poses[i].pose.position.y; | ~~~~~~~~^~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:188:16: error: expression cannot be used as a function 188 | result.yaws(i) = tf2::getYaw(path.poses[i].pose.orientation); | ~~~~~~~~~~~^~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘bool mppi::utils::withinPositionGoalTolerance(nav2_core::GoalChecker*, const Pose&, const mppi::models::Path&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:206:32: error: request for member ‘shape’ in ‘path.mppi::models::Path::x’, which is of non-class type ‘const int’ 206 | const auto goal_idx = path.x.shape(0) - 1; | ^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:207:29: error: expression cannot be used as a function 207 | const auto goal_x = path.x(goal_idx); | ~~~~~~^~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:208:29: error: expression cannot be used as a function 208 | const auto goal_y = path.y(goal_idx); | ~~~~~~^~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘bool mppi::utils::withinPositionGoalTolerance(float, const Pose&, const mppi::models::Path&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:242:32: error: request for member ‘shape’ in ‘path.mppi::models::Path::x’, which is of non-class type ‘const int’ 242 | const auto goal_idx = path.x.shape(0) - 1; | ^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:243:29: error: expression cannot be used as a function 243 | const auto goal_x = path.x(goal_idx); | ~~~~~~^~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:244:29: error: expression cannot be used as a function 244 | const auto goal_y = path.y(goal_idx); | ~~~~~~^~~~~~~~~~ In file included from /usr/include/xtensor/xstrided_view_base.hpp:19, from /usr/include/xtensor/xstrided_view.hpp:27, from /usr/include/xtensor/xgenerator.hpp:27, from /usr/include/xtensor/xbuilder.hpp:31, from /usr/include/xtensor/xmanipulation.hpp:13, from /usr/include/xtensor/xmath.hpp:28, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /usr/include/xtensor/xslice.hpp: In instantiation of ‘auto xt::detail::slice_implementation_getter::operator()(E&, SL&&, std::size_t) const [with E = const int; SL = xt::xall_tag; std::size_t = long unsigned int]’: /usr/include/xtensor/xslice.hpp:977:22: required from ‘auto xt::get_slice_implementation(E&, SL&&, std::size_t) [with E = const int; SL = xt::xall_tag; std::size_t = long unsigned int]’ /usr/include/xtensor/xview.hpp:1775:41: required from ‘auto xt::detail::make_view_impl(E&&, std::index_sequence, S&& ...) [with E = const int&; long unsigned int ...I = {0, 1, 2}; S = {xt::xall_tag, int, xt::xnewaxis_tag}; std::index_sequence = std::integer_sequence]’ /usr/include/xtensor/xview.hpp:1792:38: required from ‘auto xt::view(E&&, S&& ...) [with E = const int&; S = {xt::xall_tag, int, xt::xnewaxis_tag}]’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:303:31: required from here /usr/include/xtensor/xslice.hpp:948:24: error: ‘const int’ is not a class, struct, or union type 948 | return xall(e.shape()[index]); | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xslice.hpp:948:54: error: request for member ‘shape’ in ‘e’, which is of non-class type ‘const int’ 948 | return xall(e.shape()[index]); | ~~^~~~~ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:28, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘size_t mppi::utils::findPathTrajectoryInitialPoint(const mppi::CriticData&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:339:52: error: expression cannot be used as a function 339 | const auto dx = data.path.x - data.trajectories.x(0, 0); | ~~~~~~~~~~~~~~~~~~~^~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:340:52: error: expression cannot be used as a function 340 | const auto dy = data.path.y - data.trajectories.y(0, 0); | ~~~~~~~~~~~~~~~~~~~^~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘void mppi::utils::findPathCosts(mppi::CriticData&, std::shared_ptr)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:376:50: error: request for member ‘shape’ in ‘data.mppi::CriticData::path.mppi::models::Path::x’, which is of non-class type ‘const int’ 376 | const size_t path_segments_count = data.path.x.shape(0) - 1; | ^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:379:36: error: expression cannot be used as a function 379 | const auto path_x = data.path.x(idx); | ~~~~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:380:36: error: expression cannot be used as a function 380 | const auto path_y = data.path.y(idx); | ~~~~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘void mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:457:19: error: template argument 3 is invalid 457 | xt::xarray filter = {-21.0, 14.0, 39.0, 54.0, 59.0, 54.0, 39.0, 14.0, -21.0}; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:457:19: error: template argument 4 is invalid /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:457:21: error: scalar object ‘filter’ requires one element in initializer 457 | xt::xarray filter = {-21.0, 14.0, 39.0, 54.0, 59.0, 54.0, 39.0, 14.0, -21.0}; | ^~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:460:58: error: request for member ‘shape’ in ‘control_sequence.mppi::models::ControlSequence::vx’, which is of non-class type ‘int’ 460 | const unsigned int num_sequences = control_sequence.vx.shape(0) - 1; | ^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:48: error: template argument 3 is invalid 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:48: error: template argument 4 is invalid /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:472:29: error: template argument 4 is invalid 472 | [&](xt::xtensor & sequence, | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In lambda function: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:476:15: error: expression cannot be used as a function 476 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:482:17: error: expression cannot be used as a function 482 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:483:17: error: expression cannot be used as a function 483 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:484:17: error: expression cannot be used as a function 484 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:485:17: error: expression cannot be used as a function 485 | sequence(idx + 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:486:17: error: expression cannot be used as a function 486 | sequence(idx + 4)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:476:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 476 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 477 | { | ~ 478 | hist_0, | ~~~~~~~ 479 | hist_1, | ~~~~~~~ 480 | hist_2, | ~~~~~~~ 481 | hist_3, | ~~~~~~~ 482 | sequence(idx), | ~~~~~~~~~~~~~~ 483 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 484 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 485 | sequence(idx + 3), | ~~~~~~~~~~~~~~~~~~ 486 | sequence(idx + 4)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:489:15: error: expression cannot be used as a function 489 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:494:17: error: expression cannot be used as a function 494 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:495:17: error: expression cannot be used as a function 495 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:496:17: error: expression cannot be used as a function 496 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:497:17: error: expression cannot be used as a function 497 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:498:17: error: expression cannot be used as a function 498 | sequence(idx + 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:499:17: error: expression cannot be used as a function 499 | sequence(idx + 4)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:489:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 489 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 490 | { | ~ 491 | hist_1, | ~~~~~~~ 492 | hist_2, | ~~~~~~~ 493 | hist_3, | ~~~~~~~ 494 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 495 | sequence(idx), | ~~~~~~~~~~~~~~ 496 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 497 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 498 | sequence(idx + 3), | ~~~~~~~~~~~~~~~~~~ 499 | sequence(idx + 4)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:502:15: error: expression cannot be used as a function 502 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:506:17: error: expression cannot be used as a function 506 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:507:17: error: expression cannot be used as a function 507 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:508:17: error: expression cannot be used as a function 508 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:509:17: error: expression cannot be used as a function 509 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:510:17: error: expression cannot be used as a function 510 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:511:17: error: expression cannot be used as a function 511 | sequence(idx + 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:512:17: error: expression cannot be used as a function 512 | sequence(idx + 4)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:502:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 502 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 503 | { | ~ 504 | hist_2, | ~~~~~~~ 505 | hist_3, | ~~~~~~~ 506 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 507 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 508 | sequence(idx), | ~~~~~~~~~~~~~~ 509 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 510 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 511 | sequence(idx + 3), | ~~~~~~~~~~~~~~~~~~ 512 | sequence(idx + 4)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:515:15: error: expression cannot be used as a function 515 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:518:17: error: expression cannot be used as a function 518 | sequence(idx - 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:519:17: error: expression cannot be used as a function 519 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:520:17: error: expression cannot be used as a function 520 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:521:17: error: expression cannot be used as a function 521 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:522:17: error: expression cannot be used as a function 522 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:523:17: error: expression cannot be used as a function 523 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:524:17: error: expression cannot be used as a function 524 | sequence(idx + 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:525:17: error: expression cannot be used as a function 525 | sequence(idx + 4)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:515:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 515 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 516 | { | ~ 517 | hist_3, | ~~~~~~~ 518 | sequence(idx - 3), | ~~~~~~~~~~~~~~~~~~ 519 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 520 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 521 | sequence(idx), | ~~~~~~~~~~~~~~ 522 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 523 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 524 | sequence(idx + 3), | ~~~~~~~~~~~~~~~~~~ 525 | sequence(idx + 4)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:528:17: error: expression cannot be used as a function 528 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:530:19: error: expression cannot be used as a function 530 | sequence(idx - 4), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:531:19: error: expression cannot be used as a function 531 | sequence(idx - 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:532:19: error: expression cannot be used as a function 532 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:533:19: error: expression cannot be used as a function 533 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:534:19: error: expression cannot be used as a function 534 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:535:19: error: expression cannot be used as a function 535 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:536:19: error: expression cannot be used as a function 536 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:537:19: error: expression cannot be used as a function 537 | sequence(idx + 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:538:19: error: expression cannot be used as a function 538 | sequence(idx + 4)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:528:36: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 528 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 529 | { | ~ 530 | sequence(idx - 4), | ~~~~~~~~~~~~~~~~~~ 531 | sequence(idx - 3), | ~~~~~~~~~~~~~~~~~~ 532 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 533 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 534 | sequence(idx), | ~~~~~~~~~~~~~~ 535 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 536 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 537 | sequence(idx + 3), | ~~~~~~~~~~~~~~~~~~ 538 | sequence(idx + 4)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:542:15: error: expression cannot be used as a function 542 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:544:17: error: expression cannot be used as a function 544 | sequence(idx - 4), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:545:17: error: expression cannot be used as a function 545 | sequence(idx - 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:546:17: error: expression cannot be used as a function 546 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:547:17: error: expression cannot be used as a function 547 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:548:17: error: expression cannot be used as a function 548 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:549:17: error: expression cannot be used as a function 549 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:550:17: error: expression cannot be used as a function 550 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:551:17: error: expression cannot be used as a function 551 | sequence(idx + 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:552:17: error: expression cannot be used as a function 552 | sequence(idx + 3)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:542:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 542 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 543 | { | ~ 544 | sequence(idx - 4), | ~~~~~~~~~~~~~~~~~~ 545 | sequence(idx - 3), | ~~~~~~~~~~~~~~~~~~ 546 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 547 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 548 | sequence(idx), | ~~~~~~~~~~~~~~ 549 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 550 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 551 | sequence(idx + 3), | ~~~~~~~~~~~~~~~~~~ 552 | sequence(idx + 3)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:555:15: error: expression cannot be used as a function 555 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:557:17: error: expression cannot be used as a function 557 | sequence(idx - 4), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:558:17: error: expression cannot be used as a function 558 | sequence(idx - 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:559:17: error: expression cannot be used as a function 559 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:560:17: error: expression cannot be used as a function 560 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:561:17: error: expression cannot be used as a function 561 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:562:17: error: expression cannot be used as a function 562 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:563:17: error: expression cannot be used as a function 563 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:564:17: error: expression cannot be used as a function 564 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:565:17: error: expression cannot be used as a function 565 | sequence(idx + 2)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:555:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 555 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 556 | { | ~ 557 | sequence(idx - 4), | ~~~~~~~~~~~~~~~~~~ 558 | sequence(idx - 3), | ~~~~~~~~~~~~~~~~~~ 559 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 560 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 561 | sequence(idx), | ~~~~~~~~~~~~~~ 562 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 563 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 564 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 565 | sequence(idx + 2)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:568:15: error: expression cannot be used as a function 568 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:570:17: error: expression cannot be used as a function 570 | sequence(idx - 4), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:571:17: error: expression cannot be used as a function 571 | sequence(idx - 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:572:17: error: expression cannot be used as a function 572 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:573:17: error: expression cannot be used as a function 573 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:574:17: error: expression cannot be used as a function 574 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:575:17: error: expression cannot be used as a function 575 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:576:17: error: expression cannot be used as a function 576 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:577:17: error: expression cannot be used as a function 577 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:578:17: error: expression cannot be used as a function 578 | sequence(idx + 1)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:568:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 568 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 569 | { | ~ 570 | sequence(idx - 4), | ~~~~~~~~~~~~~~~~~~ 571 | sequence(idx - 3), | ~~~~~~~~~~~~~~~~~~ 572 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 573 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 574 | sequence(idx), | ~~~~~~~~~~~~~~ 575 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 576 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 577 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 578 | sequence(idx + 1)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:581:15: error: expression cannot be used as a function 581 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:583:17: error: expression cannot be used as a function 583 | sequence(idx - 4), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:584:17: error: expression cannot be used as a function 584 | sequence(idx - 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:585:17: error: expression cannot be used as a function 585 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:586:17: error: expression cannot be used as a function 586 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:587:17: error: expression cannot be used as a function 587 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:588:17: error: expression cannot be used as a function 588 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:589:17: error: expression cannot be used as a function 589 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:590:17: error: expression cannot be used as a function 590 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:591:17: error: expression cannot be used as a function 591 | sequence(idx)}); | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:581:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 581 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 582 | { | ~ 583 | sequence(idx - 4), | ~~~~~~~~~~~~~~~~~~ 584 | sequence(idx - 3), | ~~~~~~~~~~~~~~~~~~ 585 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 586 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 587 | sequence(idx), | ~~~~~~~~~~~~~~ 588 | sequence(idx), | ~~~~~~~~~~~~~~ 589 | sequence(idx), | ~~~~~~~~~~~~~~ 590 | sequence(idx), | ~~~~~~~~~~~~~~ 591 | sequence(idx)}); | ~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘void mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:611:24: error: expression cannot be used as a function 611 | control_sequence.vx(offset), | ~~~~~~~~~~~~~~~~~~~^~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:612:24: error: expression cannot be used as a function 612 | control_sequence.vy(offset), | ~~~~~~~~~~~~~~~~~~~^~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:613:24: error: expression cannot be used as a function 613 | control_sequence.wz(offset)}; | ~~~~~~~~~~~~~~~~~~~^~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:613:32: error: no match for ‘operator=’ (operand types are ‘std::array::value_type’ {aka ‘mppi::models::Control’} and ‘’) 613 | control_sequence.wz(offset)}; | ^ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:47, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:28, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:27:8: note: candidate: ‘constexpr mppi::models::Control& mppi::models::Control::operator=(const mppi::models::Control&)’ 27 | struct Control | ^~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:27:8: note: no known conversion for argument 1 from ‘’ to ‘const mppi::models::Control&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:27:8: note: candidate: ‘constexpr mppi::models::Control& mppi::models::Control::operator=(mppi::models::Control&&)’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:27:8: note: no known conversion for argument 1 from ‘’ to ‘mppi::models::Control&&’ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:16: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp: At global scope: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/trajectory_visualizer.hpp:76:38: error: template argument 4 is invalid 76 | void add(const xt::xtensor & trajectory, const std::string & marker_namespace); | ^ In file included from /usr/include/xtensor/xrandom.hpp:27, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:24: /usr/include/xtensor/xindex_view.hpp:65:109: error: template argument 3 is invalid 65 | using temporary_type = xarray; | ^ /usr/include/xtensor/xindex_view.hpp:65:109: error: template argument 4 is invalid /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:60:29: error: template argument 4 is invalid 60 | const xt::xtensor & trajectory, const std::string & marker_namespace) | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp: In member function ‘void mppi::TrajectoryVisualizer::add(const int&, const string&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:62:28: error: request for member ‘shape’ in ‘trajectory’, which is of non-class type ‘const int’ 62 | auto & size = trajectory.shape()[0]; | ^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp: In instantiation of ‘mppi::TrajectoryVisualizer::add(const int&, const string&):: [with auto:159 = long unsigned int]’: /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:82:15: required from here /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:70:47: error: expression cannot be used as a function 70 | auto pose = utils::createPose(trajectory(i, 0), trajectory(i, 1), 0.06); | ~~~~~~~~~~^~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:70:65: error: expression cannot be used as a function 70 | auto pose = utils::createPose(trajectory(i, 0), trajectory(i, 1), 0.06); | ~~~~~~~~~~^~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp: In member function ‘void mppi::TrajectoryVisualizer::add(const mppi::models::Trajectories&, const string&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:89:33: error: request for member ‘shape’ in ‘trajectories.mppi::models::Trajectories::x’, which is of non-class type ‘const int’ 89 | auto & shape = trajectories.x.shape(); | ^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:99:51: error: expression cannot be used as a function 99 | auto pose = utils::createPose(trajectories.x(i, j), trajectories.y(i, j), 0.03); | ~~~~~~~~~~~~~~^~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/trajectory_visualizer.cpp:99:73: error: expression cannot be used as a function 99 | auto pose = utils::createPose(trajectories.x(i, j), trajectories.y(i, j), 0.03); | ~~~~~~~~~~~~~~^~~~~~ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:24: /usr/include/xtensor/xrandom.hpp:179:65: error: template argument 4 is invalid 179 | std::enable_if_t::value, xtensor> | ^ /usr/include/xtensor/xrandom.hpp:179:66: error: template argument 2 is invalid 179 | std::enable_if_t::value, xtensor> | ^~ /usr/include/xtensor/xrandom.hpp:187:42: error: template argument 4 is invalid 187 | xtensor choice(const xexpression& e, std::size_t n, bool replace = true, | ^ /usr/include/xtensor/xrandom.hpp:191:42: error: template argument 4 is invalid 191 | xtensor choice(const xexpression& e, std::size_t n, | ^ /usr/include/xtensor/xrandom.hpp:735:65: error: template argument 4 is invalid 735 | std::enable_if_t::value, xtensor> | ^ /usr/include/xtensor/xrandom.hpp:735:66: error: template argument 2 is invalid 735 | std::enable_if_t::value, xtensor> | ^~ /usr/include/xtensor/xrandom.hpp: In function ‘int xt::random::permutation(T, E&)’: /usr/include/xtensor/xrandom.hpp:738:29: error: template argument 4 is invalid 738 | xt::xtensor res = xt::arange(e); | ^ /usr/include/xtensor/xrandom.hpp: At global scope: /usr/include/xtensor/xrandom.hpp:767:42: error: template argument 4 is invalid 767 | xtensor choice(const xexpression& e, std::size_t n, bool replace, E& engine) | ^ /usr/include/xtensor/xrandom.hpp: In function ‘int xt::random::choice(const xt::xexpression&, std::size_t, bool, E&)’: /usr/include/xtensor/xrandom.hpp:772:66: error: template argument 4 is invalid 772 | using result_type = xtensor; | ^ /usr/include/xtensor/xrandom.hpp:773:40: error: ‘result_type’ has not been declared 773 | using size_type = typename result_type::size_type; | ^~~~~~~~~~~ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:47, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:31, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:38:23: error: template argument 4 is invalid 38 | xt::xtensor vx; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:39:23: error: template argument 4 is invalid 39 | xt::xtensor vy; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:40:23: error: template argument 4 is invalid 40 | xt::xtensor wz; | ^ /usr/include/xtensor/xrandom.hpp:774:13: error: ‘result_type’ was not declared in this scope 774 | result_type result; | ^~~~~~~~~~~ /usr/include/xtensor/xrandom.hpp:775:13: error: ‘result’ was not declared in this scope 775 | result.resize({n}); | ^~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp: In member function ‘void mppi::models::ControlSequence::reset(unsigned int)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:44:26: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 44 | vx = xt::zeros({time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:45:26: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 45 | vy = xt::zeros({time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:46:26: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 46 | wz = xt::zeros({time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:48, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:31, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp: At global scope: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp:29:23: error: template argument 4 is invalid 29 | xt::xtensor x; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp:30:23: error: template argument 4 is invalid 30 | xt::xtensor y; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp:31:23: error: template argument 4 is invalid 31 | xt::xtensor yaws; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp: In member function ‘void mppi::models::Path::reset(unsigned int)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp:38:25: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 38 | x = xt::zeros({size}); | ~~~~~~~~~~~~~~~~^~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp:39:25: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 39 | y = xt::zeros({size}); | ~~~~~~~~~~~~~~~~^~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/path.hpp:40:28: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 40 | yaws = xt::zeros({size}); | ~~~~~~~~~~~~~~~~^~~~~~~~ | | | xt::xbroadcast, std::array > In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:24, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:50, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:31, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp: At global scope: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:32:23: error: template argument 4 is invalid 32 | xt::xtensor vx; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:33:23: error: template argument 4 is invalid 33 | xt::xtensor vy; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:34:23: error: template argument 4 is invalid 34 | xt::xtensor wz; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:36:23: error: template argument 4 is invalid 36 | xt::xtensor cvx; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:37:23: error: template argument 4 is invalid 37 | xt::xtensor cvy; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:38:23: error: template argument 4 is invalid 38 | xt::xtensor cwz; | ^ /usr/include/xtensor/xrandom.hpp:779:59: error: ‘size_type’ was not declared in this scope; did you mean ‘seed_type’? 779 | auto dist = std::uniform_int_distribution(0, de.size() - 1); | ^~~~~~~~~ | seed_type /usr/include/xtensor/xrandom.hpp:779:68: error: template argument 1 is invalid 779 | auto dist = std::uniform_int_distribution(0, de.size() - 1); | ^ /usr/include/xtensor/xrandom.hpp:780:31: error: expected ‘;’ before ‘i’ 780 | for (size_type i = 0; i < n; ++i) | ^~ | ; /usr/include/xtensor/xrandom.hpp:780:39: error: ‘i’ was not declared in this scope 780 | for (size_type i = 0; i < n; ++i) | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp: In member function ‘void mppi::models::State::reset(unsigned int, unsigned int)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:48:26: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 48 | vx = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:49:26: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 49 | vy = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:50:26: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 50 | wz = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:52:27: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 52 | cvx = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /usr/include/xtensor/xrandom.hpp:789:17: error: ‘size_type’ was not declared in this scope; did you mean ‘seed_type’? 789 | size_type i = n; | ^~~~~~~~~ | seed_type /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:53:27: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 53 | cvy = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/state.hpp:54:27: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 54 | cwz = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:25, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:50, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:31, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp: At global scope: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:30:23: error: template argument 4 is invalid 30 | xt::xtensor x; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:31:23: error: template argument 4 is invalid 31 | xt::xtensor y; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:32:23: error: template argument 4 is invalid 32 | xt::xtensor yaws; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp: In member function ‘void mppi::models::Trajectories::reset(unsigned int, unsigned int)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:39:25: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 39 | x = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:40:25: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 40 | y = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/trajectories.hpp:41:28: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 41 | yaws = xt::zeros({batch_size, time_steps}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /usr/include/xtensor/xrandom.hpp:790:91: error: ‘i’ was not declared in this scope; did you mean ‘it’? 790 | for(auto it = de.storage().begin() + n; it != de.storage().end(); ++it, ++i) | ^ | it /usr/include/xtensor/xrandom.hpp: At global scope: /usr/include/xtensor/xrandom.hpp:829:42: error: template argument 4 is invalid 829 | xtensor | ^ /usr/include/xtensor/xrandom.hpp: In function ‘int xt::random::choice(const xt::xexpression&, std::size_t, const xt::xexpression&, bool, E&)’: /usr/include/xtensor/xrandom.hpp:841:66: error: template argument 4 is invalid 841 | using result_type = xtensor; | ^ /usr/include/xtensor/xrandom.hpp:842:40: error: ‘result_type’ has not been declared 842 | using size_type = typename result_type::size_type; | ^~~~~~~~~~~ /usr/include/xtensor/xrandom.hpp:844:13: error: ‘result_type’ was not declared in this scope 844 | result_type result; | ^~~~~~~~~~~ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:23, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:27, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:50, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:31, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/xtensor/xmasked_view.hpp: At global scope: /usr/include/xtensor/xmasked_view.hpp:51:84: error: template argument 3 is invalid 51 | using temporary_type = xarray>; | ^~ /usr/include/xtensor/xmasked_view.hpp:51:84: error: template argument 4 is invalid In file included from /usr/include/xtensor/xstrided_view_base.hpp:19, from /usr/include/xtensor/xstrided_view.hpp:27, from /usr/include/xtensor/xgenerator.hpp:27, from /usr/include/xtensor/xbuilder.hpp:31, from /usr/include/xtensor/xmanipulation.hpp:13, from /usr/include/xtensor/xmath.hpp:28, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/xtensor/xslice.hpp: In instantiation of ‘struct xt::detail::get_slice_type_impl’: /usr/include/xtensor/xview.hpp:1773:19: required from ‘auto xt::detail::make_view_impl(E&&, std::index_sequence, S&& ...) [with E = int&; long unsigned int ...I = {0, 1}; S = {xt::xall_tag, xt::xrange_adaptor}; std::index_sequence = std::integer_sequence]’ /usr/include/xtensor/xview.hpp:1792:38: required from ‘auto xt::view(E&&, S&& ...) [with E = int&; S = {xt::xall_tag, xt::xrange_adaptor}]’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:56:25: required from here /usr/include/xtensor/xslice.hpp:995:19: error: ‘int’ is not a class, struct, or union type 995 | using type = xall; | ^~~~ /usr/include/xtensor/xslice.hpp: In instantiation of ‘auto xt::detail::slice_implementation_getter::operator()(E&, SL&&, std::size_t) const [with E = int; SL = xt::xall_tag; std::size_t = long unsigned int]’: /usr/include/xtensor/xslice.hpp:977:22: required from ‘auto xt::get_slice_implementation(E&, SL&&, std::size_t) [with E = int; SL = xt::xall_tag; std::size_t = long unsigned int]’ /usr/include/xtensor/xview.hpp:1775:41: required from ‘auto xt::detail::make_view_impl(E&&, std::index_sequence, S&& ...) [with E = int&; long unsigned int ...I = {0, 1}; S = {xt::xall_tag, xt::xrange_adaptor}; std::index_sequence = std::integer_sequence]’ /usr/include/xtensor/xview.hpp:1792:38: required from ‘auto xt::view(E&&, S&& ...) [with E = int&; S = {xt::xall_tag, xt::xrange_adaptor}]’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:56:25: required from here /usr/include/xtensor/xslice.hpp:948:24: error: ‘int’ is not a class, struct, or union type 948 | return xall(e.shape()[index]); | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xslice.hpp:948:54: error: request for member ‘shape’ in ‘e’, which is of non-class type ‘int’ 948 | return xall(e.shape()[index]); | ~~^~~~~ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:27, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:50, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:31, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp: In member function ‘virtual void mppi::AckermannMotionModel::applyConstraints(mppi::models::ControlSequence&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:115:45: error: no matching function for call to ‘fabs(int&)’ 115 | auto view = xt::masked_view(wz, xt::fabs(vx) / xt::fabs(wz) < min_turning_r_); | ~~~~~~~~^~~~ In file included from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/xtensor/xmath.hpp:444:17: note: candidate: ‘template xt::detail::xfunction_type_t xt::fabs(E&&)’ 444 | inline auto fabs(E&& e) noexcept | ^~~~ /usr/include/xtensor/xmath.hpp:444:17: note: template argument deduction/substitution failed: In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/memory:63, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/c++/11.4.0/type_traits: In substitution of ‘template using enable_if_t = typename std::enable_if::type [with bool _Cond = false; _Tp = xt::detail::xfunction_type]’: /usr/include/xtensor/xoperation.hpp:211:15: required by substitution of ‘template using xfunction_type_t = typename std::enable_if::type>::type>...>::value, xt::detail::xfunction_type >::type::type [with F = xt::math::fabs_fun; E = {int&}]’ /usr/include/xtensor/xmath.hpp:444:17: required by substitution of ‘template xt::detail::xfunction_type_t xt::fabs(E&&) [with E = int&]’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:115:45: required from here /usr/include/c++/11.4.0/type_traits:2579:11: error: no type named ‘type’ in ‘struct std::enable_if >’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:27, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:50, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:31, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:115:60: error: no matching function for call to ‘fabs(int&)’ 115 | auto view = xt::masked_view(wz, xt::fabs(vx) / xt::fabs(wz) < min_turning_r_); | ~~~~~~~~^~~~ In file included from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/xtensor/xmath.hpp:444:17: note: candidate: ‘template xt::detail::xfunction_type_t xt::fabs(E&&)’ 444 | inline auto fabs(E&& e) noexcept | ^~~~ /usr/include/xtensor/xmath.hpp:444:17: note: template argument deduction/substitution failed: In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:27, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:50, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:31, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:116:20: error: no matching function for call to ‘sign(int&)’ 116 | view = xt::sign(wz) * vx / min_turning_r_; | ~~~~~~~~^~~~ In file included from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/xtensor/xmath.hpp:851:17: note: candidate: ‘template xt::detail::xfunction_type_t xt::sign(E&&)’ 851 | inline auto sign(E&& e) noexcept | ^~~~ /usr/include/xtensor/xmath.hpp:851:17: note: template argument deduction/substitution failed: In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/memory:63, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/c++/11.4.0/type_traits: In substitution of ‘template using enable_if_t = typename std::enable_if::type [with bool _Cond = false; _Tp = xt::detail::xfunction_type]’: /usr/include/xtensor/xoperation.hpp:211:15: required by substitution of ‘template using xfunction_type_t = typename std::enable_if::type>::type>...>::value, xt::detail::xfunction_type >::type::type [with F = xt::math::sign_fun; E = {int&}]’ /usr/include/xtensor/xmath.hpp:851:17: required by substitution of ‘template xt::detail::xfunction_type_t xt::sign(E&&) [with E = int&]’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/motion_models.hpp:116:20: required from here /usr/include/c++/11.4.0/type_traits:2579:11: error: no type named ‘type’ in ‘struct std::enable_if >’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:50, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:31, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp: At global scope: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_data.hpp:44:23: error: template argument 4 is invalid 44 | xt::xtensor & costs; | ^ /usr/include/xtensor/xrandom.hpp:845:13: error: ‘result’ was not declared in this scope 845 | result.resize({n}); | ^~~~~~ /usr/include/xtensor/xrandom.hpp:857:50: error: ‘size_type’ does not name a type; did you mean ‘seed_type’? 857 | const auto idx = static_cast(std::upper_bound(wc.cbegin(), wc.cend(), u) - wc.cbegin()); | ^~~~~~~~~ | seed_type /usr/include/xtensor/xrandom.hpp:865:39: error: template argument 4 is invalid 865 | xtensor keys; | ^ /usr/include/xtensor/xrandom.hpp:866:22: error: request for member ‘resize’ in ‘keys’, which is of non-class type ‘int’ 866 | keys.resize({dweights.size()}); | ^~~~~~ /usr/include/xtensor/xrandom.hpp:868:73: error: request for member ‘begin’ in ‘keys’, which is of non-class type ‘int’ 868 | std::transform(dweights.cbegin(), dweights.cend(), keys.begin(), | ^~~~~ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:31, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘mppi::models::Path mppi::utils::toTensor(const Path&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:186:13: error: expression cannot be used as a function 186 | result.x(i) = path.poses[i].pose.position.x; | ~~~~~~~~^~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:187:13: error: expression cannot be used as a function 187 | result.y(i) = path.poses[i].pose.position.y; | ~~~~~~~~^~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:188:16: error: expression cannot be used as a function 188 | result.yaws(i) = tf2::getYaw(path.poses[i].pose.orientation); | ~~~~~~~~~~~^~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘bool mppi::utils::withinPositionGoalTolerance(nav2_core::GoalChecker*, const Pose&, const mppi::models::Path&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:206:32: error: request for member ‘shape’ in ‘path.mppi::models::Path::x’, which is of non-class type ‘const int’ 206 | const auto goal_idx = path.x.shape(0) - 1; | ^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:207:29: error: expression cannot be used as a function 207 | const auto goal_x = path.x(goal_idx); | ~~~~~~^~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:208:29: error: expression cannot be used as a function 208 | const auto goal_y = path.y(goal_idx); | ~~~~~~^~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘bool mppi::utils::withinPositionGoalTolerance(float, const Pose&, const mppi::models::Path&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:242:32: error: request for member ‘shape’ in ‘path.mppi::models::Path::x’, which is of non-class type ‘const int’ 242 | const auto goal_idx = path.x.shape(0) - 1; | ^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:243:29: error: expression cannot be used as a function 243 | const auto goal_x = path.x(goal_idx); | ~~~~~~^~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:244:29: error: expression cannot be used as a function 244 | const auto goal_y = path.y(goal_idx); | ~~~~~~^~~~~~~~~~ In file included from /usr/include/xtensor/xstrided_view_base.hpp:19, from /usr/include/xtensor/xstrided_view.hpp:27, from /usr/include/xtensor/xgenerator.hpp:27, from /usr/include/xtensor/xbuilder.hpp:31, from /usr/include/xtensor/xmanipulation.hpp:13, from /usr/include/xtensor/xmath.hpp:28, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:22, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /usr/include/xtensor/xslice.hpp: In instantiation of ‘auto xt::detail::slice_implementation_getter::operator()(E&, SL&&, std::size_t) const [with E = const int; SL = xt::xall_tag; std::size_t = long unsigned int]’: /usr/include/xtensor/xslice.hpp:977:22: required from ‘auto xt::get_slice_implementation(E&, SL&&, std::size_t) [with E = const int; SL = xt::xall_tag; std::size_t = long unsigned int]’ /usr/include/xtensor/xview.hpp:1775:41: required from ‘auto xt::detail::make_view_impl(E&&, std::index_sequence, S&& ...) [with E = const int&; long unsigned int ...I = {0, 1, 2}; S = {xt::xall_tag, int, xt::xnewaxis_tag}; std::index_sequence = std::integer_sequence]’ /usr/include/xtensor/xview.hpp:1792:38: required from ‘auto xt::view(E&&, S&& ...) [with E = const int&; S = {xt::xall_tag, int, xt::xnewaxis_tag}]’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:303:31: required from here /usr/include/xtensor/xslice.hpp:948:24: error: ‘const int’ is not a class, struct, or union type 948 | return xall(e.shape()[index]); | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xslice.hpp:948:54: error: request for member ‘shape’ in ‘e’, which is of non-class type ‘const int’ 948 | return xall(e.shape()[index]); | ~~^~~~~ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:31, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘size_t mppi::utils::findPathTrajectoryInitialPoint(const mppi::CriticData&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:339:52: error: expression cannot be used as a function 339 | const auto dx = data.path.x - data.trajectories.x(0, 0); | ~~~~~~~~~~~~~~~~~~~^~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:340:52: error: expression cannot be used as a function 340 | const auto dy = data.path.y - data.trajectories.y(0, 0); | ~~~~~~~~~~~~~~~~~~~^~~~~~ /usr/include/xtensor/xrandom.hpp:872:25: error: ‘size_type’ was not declared in this scope; did you mean ‘seed_type’? 872 | xtensor indices = arange(0, dweights.size()); | ^~~~~~~~~ | seed_type /usr/include/xtensor/xrandom.hpp:872:37: error: template argument 1 is invalid 872 | xtensor indices = arange(0, dweights.size()); | ^ /usr/include/xtensor/xrandom.hpp:872:37: error: template argument 4 is invalid /usr/include/xtensor/xrandom.hpp:873:43: error: request for member ‘begin’ in ‘indices’, which is of non-class type ‘int’ 873 | std::partial_sort(indices.begin(), indices.begin() + n, indices.end(), | ^~~~~ /usr/include/xtensor/xrandom.hpp:873:60: error: request for member ‘begin’ in ‘indices’, which is of non-class type ‘int’ 873 | std::partial_sort(indices.begin(), indices.begin() + n, indices.end(), | ^~~~~ /usr/include/xtensor/xrandom.hpp:873:81: error: request for member ‘end’ in ‘indices’, which is of non-class type ‘int’ 873 | std::partial_sort(indices.begin(), indices.begin() + n, indices.end(), | ^~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘void mppi::utils::findPathCosts(mppi::CriticData&, std::shared_ptr)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:376:50: error: request for member ‘shape’ in ‘data.mppi::CriticData::path.mppi::models::Path::x’, which is of non-class type ‘const int’ 376 | const size_t path_segments_count = data.path.x.shape(0) - 1; | ^~~~~ /usr/include/xtensor/xrandom.hpp:877:70: error: request for member ‘data’ in ‘indices’, which is of non-class type ‘int’ 877 | result = index_view(de, xtl::span{indices.data(), n}); | ^~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:379:36: error: expression cannot be used as a function 379 | const auto path_x = data.path.x(idx); | ~~~~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:380:36: error: expression cannot be used as a function 380 | const auto path_y = data.path.y(idx); | ~~~~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘void mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:457:19: error: template argument 3 is invalid 457 | xt::xarray filter = {-21.0, 14.0, 39.0, 54.0, 59.0, 54.0, 39.0, 14.0, -21.0}; | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:457:19: error: template argument 4 is invalid /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:457:21: error: scalar object ‘filter’ requires one element in initializer 457 | xt::xarray filter = {-21.0, 14.0, 39.0, 54.0, 59.0, 54.0, 39.0, 14.0, -21.0}; | ^~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:460:58: error: request for member ‘shape’ in ‘control_sequence.mppi::models::ControlSequence::vx’, which is of non-class type ‘int’ 460 | const unsigned int num_sequences = control_sequence.vx.shape(0) - 1; | ^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:48: error: template argument 3 is invalid 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:48: error: template argument 4 is invalid /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:472:29: error: template argument 4 is invalid 472 | [&](xt::xtensor & sequence, | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In lambda function: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:476:15: error: expression cannot be used as a function 476 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:482:17: error: expression cannot be used as a function 482 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:483:17: error: expression cannot be used as a function 483 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:484:17: error: expression cannot be used as a function 484 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:485:17: error: expression cannot be used as a function 485 | sequence(idx + 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:486:17: error: expression cannot be used as a function 486 | sequence(idx + 4)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:476:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 476 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 477 | { | ~ 478 | hist_0, | ~~~~~~~ 479 | hist_1, | ~~~~~~~ 480 | hist_2, | ~~~~~~~ 481 | hist_3, | ~~~~~~~ 482 | sequence(idx), | ~~~~~~~~~~~~~~ 483 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 484 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 485 | sequence(idx + 3), | ~~~~~~~~~~~~~~~~~~ 486 | sequence(idx + 4)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:489:15: error: expression cannot be used as a function 489 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:494:17: error: expression cannot be used as a function 494 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:495:17: error: expression cannot be used as a function 495 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:496:17: error: expression cannot be used as a function 496 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:497:17: error: expression cannot be used as a function 497 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:498:17: error: expression cannot be used as a function 498 | sequence(idx + 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:499:17: error: expression cannot be used as a function 499 | sequence(idx + 4)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:489:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 489 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 490 | { | ~ 491 | hist_1, | ~~~~~~~ 492 | hist_2, | ~~~~~~~ 493 | hist_3, | ~~~~~~~ 494 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 495 | sequence(idx), | ~~~~~~~~~~~~~~ 496 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 497 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 498 | sequence(idx + 3), | ~~~~~~~~~~~~~~~~~~ 499 | sequence(idx + 4)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:502:15: error: expression cannot be used as a function 502 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:506:17: error: expression cannot be used as a function 506 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:507:17: error: expression cannot be used as a function 507 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:508:17: error: expression cannot be used as a function 508 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:509:17: error: expression cannot be used as a function 509 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:510:17: error: expression cannot be used as a function 510 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:511:17: error: expression cannot be used as a function 511 | sequence(idx + 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:512:17: error: expression cannot be used as a function 512 | sequence(idx + 4)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:502:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 502 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 503 | { | ~ 504 | hist_2, | ~~~~~~~ 505 | hist_3, | ~~~~~~~ 506 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 507 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 508 | sequence(idx), | ~~~~~~~~~~~~~~ 509 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 510 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 511 | sequence(idx + 3), | ~~~~~~~~~~~~~~~~~~ 512 | sequence(idx + 4)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:515:15: error: expression cannot be used as a function 515 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:518:17: error: expression cannot be used as a function 518 | sequence(idx - 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:519:17: error: expression cannot be used as a function 519 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:520:17: error: expression cannot be used as a function 520 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:521:17: error: expression cannot be used as a function 521 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:522:17: error: expression cannot be used as a function 522 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:523:17: error: expression cannot be used as a function 523 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:524:17: error: expression cannot be used as a function 524 | sequence(idx + 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:525:17: error: expression cannot be used as a function 525 | sequence(idx + 4)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:515:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 515 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 516 | { | ~ 517 | hist_3, | ~~~~~~~ 518 | sequence(idx - 3), | ~~~~~~~~~~~~~~~~~~ 519 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 520 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 521 | sequence(idx), | ~~~~~~~~~~~~~~ 522 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 523 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 524 | sequence(idx + 3), | ~~~~~~~~~~~~~~~~~~ 525 | sequence(idx + 4)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:528:17: error: expression cannot be used as a function 528 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:530:19: error: expression cannot be used as a function 530 | sequence(idx - 4), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:531:19: error: expression cannot be used as a function 531 | sequence(idx - 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:532:19: error: expression cannot be used as a function 532 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:533:19: error: expression cannot be used as a function 533 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:534:19: error: expression cannot be used as a function 534 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:535:19: error: expression cannot be used as a function 535 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:536:19: error: expression cannot be used as a function 536 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:537:19: error: expression cannot be used as a function 537 | sequence(idx + 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:538:19: error: expression cannot be used as a function 538 | sequence(idx + 4)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:528:36: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 528 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 529 | { | ~ 530 | sequence(idx - 4), | ~~~~~~~~~~~~~~~~~~ 531 | sequence(idx - 3), | ~~~~~~~~~~~~~~~~~~ 532 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 533 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 534 | sequence(idx), | ~~~~~~~~~~~~~~ 535 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 536 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 537 | sequence(idx + 3), | ~~~~~~~~~~~~~~~~~~ 538 | sequence(idx + 4)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:542:15: error: expression cannot be used as a function 542 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:544:17: error: expression cannot be used as a function 544 | sequence(idx - 4), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:545:17: error: expression cannot be used as a function 545 | sequence(idx - 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:546:17: error: expression cannot be used as a function 546 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:547:17: error: expression cannot be used as a function 547 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:548:17: error: expression cannot be used as a function 548 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:549:17: error: expression cannot be used as a function 549 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:550:17: error: expression cannot be used as a function 550 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:551:17: error: expression cannot be used as a function 551 | sequence(idx + 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:552:17: error: expression cannot be used as a function 552 | sequence(idx + 3)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:542:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 542 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 543 | { | ~ 544 | sequence(idx - 4), | ~~~~~~~~~~~~~~~~~~ 545 | sequence(idx - 3), | ~~~~~~~~~~~~~~~~~~ 546 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 547 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 548 | sequence(idx), | ~~~~~~~~~~~~~~ 549 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 550 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 551 | sequence(idx + 3), | ~~~~~~~~~~~~~~~~~~ 552 | sequence(idx + 3)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:555:15: error: expression cannot be used as a function 555 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:557:17: error: expression cannot be used as a function 557 | sequence(idx - 4), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:558:17: error: expression cannot be used as a function 558 | sequence(idx - 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:559:17: error: expression cannot be used as a function 559 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:560:17: error: expression cannot be used as a function 560 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:561:17: error: expression cannot be used as a function 561 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:562:17: error: expression cannot be used as a function 562 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:563:17: error: expression cannot be used as a function 563 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:564:17: error: expression cannot be used as a function 564 | sequence(idx + 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:565:17: error: expression cannot be used as a function 565 | sequence(idx + 2)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:555:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 555 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 556 | { | ~ 557 | sequence(idx - 4), | ~~~~~~~~~~~~~~~~~~ 558 | sequence(idx - 3), | ~~~~~~~~~~~~~~~~~~ 559 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 560 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 561 | sequence(idx), | ~~~~~~~~~~~~~~ 562 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 563 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 564 | sequence(idx + 2), | ~~~~~~~~~~~~~~~~~~ 565 | sequence(idx + 2)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:568:15: error: expression cannot be used as a function 568 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:570:17: error: expression cannot be used as a function 570 | sequence(idx - 4), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:571:17: error: expression cannot be used as a function 571 | sequence(idx - 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:572:17: error: expression cannot be used as a function 572 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:573:17: error: expression cannot be used as a function 573 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:574:17: error: expression cannot be used as a function 574 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:575:17: error: expression cannot be used as a function 575 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:576:17: error: expression cannot be used as a function 576 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:577:17: error: expression cannot be used as a function 577 | sequence(idx + 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:578:17: error: expression cannot be used as a function 578 | sequence(idx + 1)}); | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:568:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 568 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 569 | { | ~ 570 | sequence(idx - 4), | ~~~~~~~~~~~~~~~~~~ 571 | sequence(idx - 3), | ~~~~~~~~~~~~~~~~~~ 572 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 573 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 574 | sequence(idx), | ~~~~~~~~~~~~~~ 575 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 576 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 577 | sequence(idx + 1), | ~~~~~~~~~~~~~~~~~~ 578 | sequence(idx + 1)}); | ~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:581:15: error: expression cannot be used as a function 581 | sequence(idx) = applyFilter( | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:583:17: error: expression cannot be used as a function 583 | sequence(idx - 4), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:584:17: error: expression cannot be used as a function 584 | sequence(idx - 3), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:585:17: error: expression cannot be used as a function 585 | sequence(idx - 2), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:586:17: error: expression cannot be used as a function 586 | sequence(idx - 1), | ~~~~~~~~^~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:587:17: error: expression cannot be used as a function 587 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:588:17: error: expression cannot be used as a function 588 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:589:17: error: expression cannot be used as a function 589 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:590:17: error: expression cannot be used as a function 590 | sequence(idx), | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:591:17: error: expression cannot be used as a function 591 | sequence(idx)}); | ~~~~~~~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:581:34: error: no match for call to ‘(mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::) ()’ 581 | sequence(idx) = applyFilter( | ~~~~~~~~~~~^ 582 | { | ~ 583 | sequence(idx - 4), | ~~~~~~~~~~~~~~~~~~ 584 | sequence(idx - 3), | ~~~~~~~~~~~~~~~~~~ 585 | sequence(idx - 2), | ~~~~~~~~~~~~~~~~~~ 586 | sequence(idx - 1), | ~~~~~~~~~~~~~~~~~~ 587 | sequence(idx), | ~~~~~~~~~~~~~~ 588 | sequence(idx), | ~~~~~~~~~~~~~~ 589 | sequence(idx), | ~~~~~~~~~~~~~~ 590 | sequence(idx), | ~~~~~~~~~~~~~~ 591 | sequence(idx)}); | ~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: candidate: ‘mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)::’ 467 | auto applyFilter = [&](const xt::xarray & data) -> float { | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:467:22: note: no known conversion for argument 1 from ‘’ to ‘const int&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp: In member function ‘void mppi::Optimizer::reset()’: /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:125:28: error: cannot convert ‘xt::xbroadcast, std::array >’ to ‘int’ in assignment 125 | costs_ = xt::zeros({settings_.batch_size}); | ~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~ | | | xt::xbroadcast, std::array > /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp: In function ‘void mppi::utils::savitskyGolayFilter(mppi::models::ControlSequence&, std::array&, const mppi::models::OptimizerSettings&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:611:24: error: expression cannot be used as a function 611 | control_sequence.vx(offset), | ~~~~~~~~~~~~~~~~~~~^~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:612:24: error: expression cannot be used as a function 612 | control_sequence.vy(offset), | ~~~~~~~~~~~~~~~~~~~^~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:613:24: error: expression cannot be used as a function 613 | control_sequence.wz(offset)}; | ~~~~~~~~~~~~~~~~~~~^~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:613:32: error: no match for ‘operator=’ (operand types are ‘std::array::value_type’ {aka ‘mppi::models::Control’} and ‘’) 613 | control_sequence.wz(offset)}; | ^ In file included from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/tools/utils.hpp:47, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/critic_manager.hpp:31, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/critic_manager.cpp:15: /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:27:8: note: candidate: ‘constexpr mppi::models::Control& mppi::models::Control::operator=(const mppi::models::Control&)’ 27 | struct Control | ^~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:27:8: note: no known conversion for argument 1 from ‘’ to ‘const mppi::models::Control&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:27:8: note: candidate: ‘constexpr mppi::models::Control& mppi::models::Control::operator=(mppi::models::Control&&)’ /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/models/control_sequence.hpp:27:8: note: no known conversion for argument 1 from ‘’ to ‘mppi::models::Control&&’ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp: In member function ‘void mppi::Optimizer::prepare(const PoseStamped&, const Twist&, const Path&, nav2_core::GoalChecker*)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:189:10: error: request for member ‘fill’ in ‘((mppi::Optimizer*)this)->mppi::Optimizer::costs_’, which is of non-class type ‘int’ 189 | costs_.fill(0); | ^~~~ In file included from /usr/include/xtensor/xmath.hpp:28, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xmanipulation.hpp: In instantiation of ‘auto xt::roll(E&&, std::ptrdiff_t) [with E = int&; std::ptrdiff_t = long int]’: /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:201:34: required from here /usr/include/xtensor/xmanipulation.hpp:776:30: error: no matching function for call to ‘empty_like(int&)’ 776 | auto cpy = empty_like(e); | ~~~~~~~~~~^~~ In file included from /usr/include/xtensor/xmanipulation.hpp:13, from /usr/include/xtensor/xmath.hpp:28, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xbuilder.hpp:121:17: note: candidate: ‘template auto xt::empty_like(const xt::xexpression&)’ 121 | inline auto empty_like(const xexpression& e) | ^~~~~~~~~~ /usr/include/xtensor/xbuilder.hpp:121:17: note: template argument deduction/substitution failed: In file included from /usr/include/xtensor/xmath.hpp:28, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xmanipulation.hpp:776:30: note: mismatched types ‘const xt::xexpression’ and ‘int’ 776 | auto cpy = empty_like(e); | ~~~~~~~~~~^~~ /usr/include/xtensor/xmanipulation.hpp:784:21: error: request for member ‘begin’ in ‘e’, which is of non-class type ‘int’ 784 | std::copy(e.begin(), e.end() - shift, | ~~^~~~~ /usr/include/xtensor/xmanipulation.hpp:784:32: error: request for member ‘end’ in ‘e’, which is of non-class type ‘int’ 784 | std::copy(e.begin(), e.end() - shift, | ~~^~~ /usr/include/xtensor/xmanipulation.hpp:785:31: error: request for member ‘end’ in ‘e’, which is of non-class type ‘int’ 785 | std::copy(e.end() - shift, e.end(), cpy.begin())); | ~~^~~ /usr/include/xtensor/xmanipulation.hpp:785:48: error: request for member ‘end’ in ‘e’, which is of non-class type ‘int’ 785 | std::copy(e.end() - shift, e.end(), cpy.begin())); | ~~^~~ In file included from /usr/include/xtensor/xstrided_view_base.hpp:19, from /usr/include/xtensor/xstrided_view.hpp:27, from /usr/include/xtensor/xgenerator.hpp:27, from /usr/include/xtensor/xbuilder.hpp:31, from /usr/include/xtensor/xmanipulation.hpp:13, from /usr/include/xtensor/xmath.hpp:28, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xslice.hpp: In instantiation of ‘decltype(auto) xt::detail::slice_implementation_getter::get_slice(E&, SL&&, std::size_t, std::true_type) const [with E = int; SL = int; T = int; std::size_t = long unsigned int; std::true_type = std::integral_constant]’: /usr/include/xtensor/xslice.hpp:895:33: required from ‘decltype(auto) xt::detail::slice_implementation_getter::operator()(E&, SL&&, std::size_t) const [with E = int; SL = int; T = int; std::size_t = long unsigned int]’ /usr/include/xtensor/xslice.hpp:977:22: required from ‘auto xt::get_slice_implementation(E&, SL&&, std::size_t) [with E = int; SL = int; std::size_t = long unsigned int]’ /usr/include/xtensor/xview.hpp:1775:41: required from ‘auto xt::detail::make_view_impl(E&&, std::index_sequence, S&& ...) [with E = int&; long unsigned int ...I = {0}; S = {int}; std::index_sequence = std::integer_sequence]’ /usr/include/xtensor/xview.hpp:1792:38: required from ‘auto xt::view(E&&, S&& ...) [with E = int&; S = {int}]’ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:205:11: required from here /usr/include/xtensor/xslice.hpp:910:84: error: request for member ‘shape’ in ‘e’, which is of non-class type ‘int’ 910 | return slice < int_type(0) ? slice + static_cast(e.shape(index)) : std::ptrdiff_t(slice); | ~~^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp: In member function ‘void mppi::Optimizer::applyControlSequenceConstraints()’: /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:234:36: error: no matching function for call to ‘clip(int&, float, float&)’ 234 | control_sequence_.vy = xt::clip(control_sequence_.vy, -s.constraints.vy, s.constraints.vy); | ~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ In file included from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xmath.hpp:800:17: note: candidate: ‘template xt::detail::xfunction_type_t xt::clip(E1&&, E2&&, E3&&)’ 800 | inline auto clip(E1&& e1, E2&& lo, E3&& hi) noexcept | ^~~~ /usr/include/xtensor/xmath.hpp:800:17: note: template argument deduction/substitution failed: In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/char_traits.h:39, from /usr/include/c++/11.4.0/string:40, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/c++/11.4.0/type_traits: In substitution of ‘template using enable_if_t = typename std::enable_if::type [with bool _Cond = false; _Tp = xt::detail::xfunction_type]’: /usr/include/xtensor/xoperation.hpp:211:15: required by substitution of ‘template using xfunction_type_t = typename std::enable_if::type>::type>...>::value, xt::detail::xfunction_type >::type::type [with F = xt::math::clamp_fun; E = {int&, float, float&}]’ /usr/include/xtensor/xmath.hpp:800:17: required by substitution of ‘template xt::detail::xfunction_type_t xt::clip(E1&&, E2&&, E3&&) [with E1 = int&; E2 = float; E3 = float&]’ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:234:36: required from here /usr/include/c++/11.4.0/type_traits:2579:11: error: no type named ‘type’ in ‘struct std::enable_if >’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:237:34: error: no matching function for call to ‘clip(int&, float&, float&)’ 237 | control_sequence_.vx = xt::clip(control_sequence_.vx, s.constraints.vx_min, s.constraints.vx_max); | ~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ In file included from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xmath.hpp:800:17: note: candidate: ‘template xt::detail::xfunction_type_t xt::clip(E1&&, E2&&, E3&&)’ 800 | inline auto clip(E1&& e1, E2&& lo, E3&& hi) noexcept | ^~~~ /usr/include/xtensor/xmath.hpp:800:17: note: template argument deduction/substitution failed: In file included from /usr/include/c++/11.4.0/bits/move.h:57, from /usr/include/c++/11.4.0/bits/stl_pair.h:59, from /usr/include/c++/11.4.0/bits/stl_algobase.h:64, from /usr/include/c++/11.4.0/bits/char_traits.h:39, from /usr/include/c++/11.4.0/string:40, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:18, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/c++/11.4.0/type_traits: In substitution of ‘template using enable_if_t = typename std::enable_if::type [with bool _Cond = false; _Tp = xt::detail::xfunction_type]’: /usr/include/xtensor/xoperation.hpp:211:15: required by substitution of ‘template using xfunction_type_t = typename std::enable_if::type>::type>...>::value, xt::detail::xfunction_type >::type::type [with F = xt::math::clamp_fun; E = {int&, float&, float&}]’ /usr/include/xtensor/xmath.hpp:800:17: required by substitution of ‘template xt::detail::xfunction_type_t xt::clip(E1&&, E2&&, E3&&) [with E1 = int&; E2 = float&; E3 = float&]’ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:237:34: required from here /usr/include/c++/11.4.0/type_traits:2579:11: error: no type named ‘type’ in ‘struct std::enable_if >’ 2579 | using enable_if_t = typename enable_if<_Cond, _Tp>::type; | ^~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:238:34: error: no matching function for call to ‘clip(int&, float, float&)’ 238 | control_sequence_.wz = xt::clip(control_sequence_.wz, -s.constraints.wz, s.constraints.wz); | ~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ In file included from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xmath.hpp:800:17: note: candidate: ‘template xt::detail::xfunction_type_t xt::clip(E1&&, E2&&, E3&&)’ 800 | inline auto clip(E1&& e1, E2&& lo, E3&& hi) noexcept | ^~~~ /usr/include/xtensor/xmath.hpp:800:17: note: template argument deduction/substitution failed: /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp: At global scope: /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:268:23: error: template argument 4 is invalid 268 | xt::xtensor & trajectory, | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:269:29: error: template argument 4 is invalid 269 | const xt::xtensor & sequence) const | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp: In member function ‘void mppi::Optimizer::integrateStateVelocities(int&, const int&) const’: /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:283:41: error: template argument 4 is invalid 283 | auto && yaw_cos = xt::xtensor::from_shape(traj_yaws.shape()); | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:284:41: error: template argument 4 is invalid 284 | auto && yaw_sin = xt::xtensor::from_shape(traj_yaws.shape()); | ^ In file included from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xmath.hpp: In instantiation of ‘auto xt::cumsum(E&&, std::ptrdiff_t) [with T = void; E = float; std::ptrdiff_t = long int]’: /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:312:15: required from here /usr/include/xtensor/xmath.hpp:2242:15: error: ‘std::decay::type’ {aka ‘float’} is not a class, struct, or union type 2242 | using init_value_type = std::conditional_t::value, typename std::decay_t::value_type, T>; | ^~~~~~~~~~~~~~~ /usr/include/xtensor/xmath.hpp:2243:77: error: ‘std::decay::type’ {aka ‘float’} is not a class, struct, or union type 2243 | return accumulate(make_xaccumulator_functor(detail::plus(), detail::accumulator_identity()), | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp: In member function ‘void mppi::Optimizer::integrateStateVelocities(mppi::models::Trajectories&, const mppi::models::State&) const’: /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:316:41: error: template argument 4 is invalid 316 | auto && yaw_cos = xt::xtensor::from_shape(trajectories.yaws.shape()); | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:316:73: error: request for member ‘shape’ in ‘trajectories.mppi::models::Trajectories::yaws’, which is of non-class type ‘int’ 316 | auto && yaw_cos = xt::xtensor::from_shape(trajectories.yaws.shape()); | ^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:317:41: error: template argument 4 is invalid 317 | auto && yaw_sin = xt::xtensor::from_shape(trajectories.yaws.shape()); | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:317:73: error: request for member ‘shape’ in ‘trajectories.mppi::models::Trajectories::yaws’, which is of non-class type ‘int’ 317 | auto && yaw_sin = xt::xtensor::from_shape(trajectories.yaws.shape()); | ^~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp: At global scope: /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:337:21: error: template argument 4 is invalid 337 | xt::xtensor Optimizer::getOptimizedTrajectory() | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp: In member function ‘int mppi::Optimizer::getOptimizedTrajectory()’: /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:340:25: error: template argument 4 is invalid 340 | xt::xtensor::from_shape({settings_.time_steps, isHolonomic() ? 3u : 2u}); | ^ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:341:46: error: template argument 4 is invalid 341 | auto && trajectories = xt::xtensor::from_shape({settings_.time_steps, 3}); | ^ In file included from /usr/include/xtensor/xstrided_view_base.hpp:19, from /usr/include/xtensor/xstrided_view.hpp:27, from /usr/include/xtensor/xgenerator.hpp:27, from /usr/include/xtensor/xbuilder.hpp:31, from /usr/include/xtensor/xmanipulation.hpp:13, from /usr/include/xtensor/xmath.hpp:28, from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xslice.hpp: In instantiation of ‘struct xt::detail::get_slice_type_impl’: /usr/include/xtensor/xview.hpp:1773:19: required from ‘auto xt::detail::make_view_impl(E&&, std::index_sequence, S&& ...) [with E = int&; long unsigned int ...I = {0, 1}; S = {xt::xnewaxis_tag, xt::xall_tag}; std::index_sequence = std::integer_sequence]’ /usr/include/xtensor/xview.hpp:1792:38: required from ‘auto xt::view(E&&, S&& ...) [with E = int&; S = {xt::xnewaxis_tag, xt::xall_tag}]’ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:361:13: required from here /usr/include/xtensor/xslice.hpp:1001:19: error: ‘int’ is not a class, struct, or union type 1001 | using type = xnewaxis; | ^~~~ /usr/include/xtensor/xslice.hpp: In instantiation of ‘auto xt::detail::slice_implementation_getter::operator()(E&, SL&&, std::size_t) const [with E = int; SL = xt::xnewaxis_tag; std::size_t = long unsigned int]’: /usr/include/xtensor/xslice.hpp:977:22: required from ‘auto xt::get_slice_implementation(E&, SL&&, std::size_t) [with E = int; SL = xt::xnewaxis_tag; std::size_t = long unsigned int]’ /usr/include/xtensor/xview.hpp:1775:41: required from ‘auto xt::detail::make_view_impl(E&&, std::index_sequence, S&& ...) [with E = int&; long unsigned int ...I = {0, 1}; S = {xt::xnewaxis_tag, xt::xall_tag}; std::index_sequence = std::integer_sequence]’ /usr/include/xtensor/xview.hpp:1792:38: required from ‘auto xt::view(E&&, S&& ...) [with E = int&; S = {xt::xnewaxis_tag, xt::xall_tag}]’ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:361:13: required from here /usr/include/xtensor/xslice.hpp:958:24: error: ‘int’ is not a class, struct, or union type 958 | return xnewaxis(); | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ In file included from /usr/include/xtensor/xcontainer.hpp:25, from /usr/include/xtensor/xtensor.hpp:20, from /home/jetson/project/src/navigation2/nav2_mppi_controller/include/nav2_mppi_controller/optimizer.hpp:21, from /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:15: /usr/include/xtensor/xmath.hpp: In instantiation of ‘auto xt::amin(E&&, EVS) [with T = void; E = int&; EVS = std::tuple; typename std::enable_if >, int>::type = 0]’: /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:374:47: required from here /usr/include/xtensor/xmath.hpp:784:5: error: ‘std::decay::type’ {aka ‘int’} is not a class, struct, or union type 784 | XTENSOR_REDUCER_FUNCTION(amin, math::minimum, typename std::decay_t::value_type, | ^~~~~~~~~~~~~~~~~~~~~~~~ /usr/include/xtensor/xmath.hpp:784:5: error: ‘std::decay::type’ {aka ‘int’} is not a class, struct, or union type 784 | XTENSOR_REDUCER_FUNCTION(amin, math::minimum, typename std::decay_t::value_type, | ^~~~~~~~~~~~~~~~~~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp: In member function ‘geometry_msgs::msg::TwistStamped mppi::Optimizer::getControlFromSequenceAsTwist(const Time&)’: /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:393:33: error: expression cannot be used as a function 393 | auto vx = control_sequence_.vx(offset); | ~~~~~~~~~~~~~~~~~~~~^~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:394:33: error: expression cannot be used as a function 394 | auto wz = control_sequence_.wz(offset); | ~~~~~~~~~~~~~~~~~~~~^~~~~~~~ /home/jetson/project/src/navigation2/nav2_mppi_controller/src/optimizer.cpp:397:35: error: expression cannot be used as a function 397 | auto vy = control_sequence_.vy(offset); | ~~~~~~~~~~~~~~~~~~~~^~~~~~~~ make[3]: *** [CMakeFiles/mppi_controller.dir/build.make:90: CMakeFiles/mppi_controller.dir/src/optimizer.cpp.o] Error 1 make[3]: *** [CMakeFiles/mppi_controller.dir/build.make:104: CMakeFiles/mppi_controller.dir/src/critic_manager.cpp.o] Error 1 make[3]: *** [CMakeFiles/mppi_controller.dir/build.make:118: CMakeFiles/mppi_controller.dir/src/trajectory_visualizer.cpp.o] Error 1 make[2]: *** [CMakeFiles/Makefile2:139: CMakeFiles/mppi_controller.dir/all] Error 2 make[1]: *** [Makefile:146: all] Error 2 --- Failed <<< nav2_mppi_controller [1min 48s, exited with code 2] make: *** [Makefile:23: build2] Error 2