在 C++ 上将成员函数的 std::bind 作为参数传递时出现问题（和 MoveIt API）

Question

美好的一天，

注意：虽然这是一个与 ROS 相关的问题，但我 post 在这里是因为我很确定我的问题是 C++ 而不是 ROS API。

我正在尝试使用函数 setFromIK defined on moveit::core::RobotState。

此函数接受名为 GroupStateValidityCallbackFn 的可调用参数，类型（函数签名）：

typedef boost::function<bool(RobotState* robot_state, const JointModelGroup* joint_group, const double* joint_group_variable_values)>

问题的出现是因为我试图将一个成员class函数传递给这个参数（因为我需要在处理过程中来class实例成员字段），然后绑定过程进入见鬼。

我的 class 看起来像这样：

class CSDA10F{
    public:
       bool validateIKSolution( robot_state::RobotState* robot_state, 
                                        const robot_state::JointModelGroup* joint_group, 
                                        const double* joint_group_variable_value){
              [...]
              // some code here
              [...]
          }

       bool planCartesianMotionTask(MoveGroupInterface* move_group, 
                                                    geometry_msgs::Pose initial_pose, 
                                                    geometry_msgs::Pose final_pose,
                                                    std::vector<MoveGroupInterface::Plan> motion_plans,
                                                    uint max_configurations = 10) {
         [...] // Here I make the call!!!.
            auto ik_check_callback = std::bind(&CSDA10F::validateIKSolution, this, _1, _2, _3);
            ik_solution_found = start_state.setFromIK( joint_model_group, initial_pose, 10, 0.01, ik_check_callback);
         [...]
         }

我为函数的 3 个参数使用了 3 个占位符，但随后编译器就失败了，出现了一个我根本无法理解的错误。

In file included from /usr/include/boost/function/detail/maybe_include.hpp:28:0,
                 from /usr/include/boost/function/detail/function_iterate.hpp:14,
                 from /usr/include/boost/preprocessor/iteration/detail/iter/forward1.hpp:62,
                 from /usr/include/boost/function.hpp:64,
                 from /opt/ros/kinetic/include/ros/forwards.h:40,
                 from /opt/ros/kinetic/include/ros/common.h:37,
                 from /opt/ros/kinetic/include/ros/ros.h:43,
                 from /home/invite/catkin_ws/src/invite-robotics/drum_automation/src/bag_handling.cpp:1:
/usr/include/boost/function/function_template.hpp: In instantiation of ‘static R boost::detail::function::function_obj_invoker3<FunctionObj, R, T0, T1, T2>::invoke(boost::detail::function::function_buffer&, T0, T1, T2) [with FunctionObj = std::_Bind<std::_Mem_fn<bool (invite_utils::CSDA10F::*)(moveit::core::RobotState*, const moveit::core::JointModelGroup*, const double*)>(invite_utils::CSDA10F, boost::arg<1>, boost::arg<2>, boost::arg<3>)>; R = bool; T0 = moveit::core::RobotState*; T1 = const moveit::core::JointModelGroup*; T2 = const double*]’:
/usr/include/boost/function/function_template.hpp:940:38:   required from ‘void boost::function3<R, T1, T2, T3>::assign_to(Functor) [with Functor = std::_Bind<std::_Mem_fn<bool (invite_utils::CSDA10F::*)(moveit::core::RobotState*, const moveit::core::JointModelGroup*, const double*)>(invite_utils::CSDA10F, boost::arg<1>, boost::arg<2>, boost::arg<3>)>; R = bool; T0 = moveit::core::RobotState*; T1 = const moveit::core::JointModelGroup*; T2 = const double*]’
/usr/include/boost/function/function_template.hpp:728:7:   required from ‘boost::function3<R, T1, T2, T3>::function3(Functor, typename boost::enable_if_c<boost::type_traits::ice_not<boost::is_integral<Functor>::value>::value, int>::type) [with Functor = std::_Bind<std::_Mem_fn<bool (invite_utils::CSDA10F::*)(moveit::core::RobotState*, const moveit::core::JointModelGroup*, const double*)>(invite_utils::CSDA10F, boost::arg<1>, boost::arg<2>, boost::arg<3>)>; R = bool; T0 = moveit::core::RobotState*; T1 = const moveit::core::JointModelGroup*; T2 = const double*; typename boost::enable_if_c<boost::type_traits::ice_not<boost::is_integral<Functor>::value>::value, int>::type = int]’
/usr/include/boost/function/function_template.hpp:1077:16:   required from ‘boost::function<R(T0, T1, T2)>::function(Functor, typename boost::enable_if_c<boost::type_traits::ice_not<boost::is_integral<Functor>::value>::value, int>::type) [with Functor = std::_Bind<std::_Mem_fn<bool (invite_utils::CSDA10F::*)(moveit::core::RobotState*, const moveit::core::JointModelGroup*, const double*)>(invite_utils::CSDA10F, boost::arg<1>, boost::arg<2>, boost::arg<3>)>; R = bool; T0 = moveit::core::RobotState*; T1 = const moveit::core::JointModelGroup*; T2 = const double*; typename boost::enable_if_c<boost::type_traits::ice_not<boost::is_integral<Functor>::value>::value, int>::type = int]’
/home/invite/catkin_ws/src/invite-robotics/invite_utils/include/invite_utils/csda10f_interface.h:202:116:   required from here
/usr/include/boost/function/function_template.hpp:138:22: error: no match for call to ‘(std::_Bind<std::_Mem_fn<bool (invite_utils::CSDA10F::*)(moveit::core::RobotState*, const moveit::core::JointModelGroup*, const double*)>(invite_utils::CSDA10F, boost::arg<1>, boost::arg<2>, boost::arg<3>)>) (moveit::core::RobotState*, const moveit::core::JointModelGroup*, const double*)’
           return (*f)(BOOST_FUNCTION_ARGS);

RobotState 上的声明是否不允许成员函数？我相信我在 std::bind 上犯了一个错误，但我似乎找不到它是什么的答案。

我知道什么：

我在要绑定的函数中使用了正确的参数类型
我有正确数量的参数 (3)

有什么想法吗？

Answer 1

您似乎将 Boost _1、_2、_3 占位符与 std::bind 混合使用。尝试以下操作之一：

切换到 boost::bind,
在调用之前添加 using std::placeholders;，
使用捕获 this.

在 C++ 上将成员函数的 std::bind 作为参数传递时出现问题（和 MoveIt API）

Problem when passing as argument a std::bind of a member function on C++ (and MoveIt API)

c++

templates

boost

stdbind

c++11