Variant Configuration - Dependency Type

本文详细解释了InSAP系统中三种依赖类型:预置条件、过程(操作)及选择条件的区别及其应用范围。通过具体实例说明每种依赖类型的使用场景,如特性值的显示条件等。

In SAP system, there existed three kinds of Dependency Types: Precondition / Procedure (Action) / Selection Condition.
What's the difference between them and What's the application area about them each other?

Difference:
Example 1: Precondition
Chars 2 only appear if Char 1 has values such as following picture:
If the Char 1 has no value. (before)
Precondition Des
After input value to Char 1.
Precondition Des2

Operation Guide:
T-code: CT04 - Change Chars 2, Click menu: Extras->Object Dependency->Editor.
Select Precondition, in Line: 000010, input: TX100 SPECIFIED.

Example 2: Procedure (Action)
Chars 1 value decided the default Value of Chars 2.
If I select SUNBURN-1000 for Chars 1, the Chars 2 will has an default value
inputed by system automatically. Like following:
Procedure Des2

Operation Guide:
T-code: CT04 - Change Chars 1, Click menu: Extras->Object Dependency->Editor.
Select Procedure, in Line: 000010, input: $self.TX200 = 'CRUISER'.

Example 2: Selection Condition
If Char2.value has been assigned 'SUPERSPORT', an entry is required for Chars3.
Selection Condition

Operation Guide:
T-code: CT04 - Change Chars 3, Click menu: Extras->Object Dependency->Editor.
Select Selection Condition, in Line: 000010, input: $self.TX200 = 'SUPERSPORT'.
Note:
If the char 2 has the value: supersport and you didn't maintain any value to Char 3.
System will pop up message to inform you that you haven't input value for char 3.

Application Area:
Precondition: Characteristic (Basic Data) / Characteristic Value
Selection Condition: Characteristic (Basic Data)
Procedure (Action): Characteristic (Basic Data) / Characteristic Value / Class

Of course, Above is just some simple samples for you to know about the topic of Dependency Type. The most widely usage of Dependency Type is to Link the Characteristics value to Actual component.

Following I will continue to talk about that topic.

u1804@u1804-Lenovo-Legion-R9000K2021H:~/study/cartographer_install$ ./auto-carto-build.sh [sudo] u1804 的密码: /home/u1804/study/cartographer_install -- The C compiler identification is GNU 7.5.0 -- The CXX compiler identification is GNU 7.5.0 -- Detecting C compiler ABI info -- Detecting C compiler ABI info - done -- Check for working C compiler: /usr/bin/cc - skipped -- Detecting C compile features -- Detecting C compile features - done -- Detecting CXX compiler ABI info -- Detecting CXX compiler ABI info - done -- Check for working CXX compiler: /usr/bin/c++ - skipped -- Detecting CXX compile features -- Detecting CXX compile features - done -- Build type: Release 文件 /home/u1804/study/cartographer_install/cartographer/build/AllFiles.cmake 和 - 不同 -- Looking for pthread.h -- Looking for pthread.h - found -- Performing Test CMAKE_HAVE_LIBC_PTHREAD -- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Failed -- Looking for pthread_create in pthreads -- Looking for pthread_create in pthreads - not found -- Looking for pthread_create in pthread -- Looking for pthread_create in pthread - found -- Found Threads: TRUE -- Found GMock: /usr/local/lib/libgmock_main.a;/usr/local/lib/libgmock.a;/usr/local/lib/libgtest.a;-lpthread CMake Warning (dev) at /usr/local/share/cmake-3.20/Modules/FindPackageHandleStandardArgs.cmake:438 (message): The package name passed to `find_package_handle_standard_args` (Threads) does not match the name of the calling package (absl). This can lead to problems in calling code that expects `find_package` result variables (e.g., `_FOUND`) to follow a certain pattern. Call Stack (most recent call first): /usr/local/share/cmake-3.20/Modules/FindThreads.cmake:238 (FIND_PACKAGE_HANDLE_STANDARD_ARGS) /usr/local/lib/cmake/absl/abslConfig.cmake:3 (include) CMakeLists.txt:32 (find_package) This warning is for project developers. Use -Wno-dev to suppress it. -- Found Boost: /usr/include (found version "1.65.1") found components: iostreams regex -- Found installed version of Eigen: /usr/lib/cmake/eigen3 -- Found required Ceres dependency: Eigen version 3.3.4 in /usr/include/eigen3 -- Found required Ceres dependency: glog -- Found installed version of gflags: /usr/lib/x86_64-linux-gnu/cmake/gflags -- Detected gflags version: 2.2.1 -- Found required Ceres dependency: gflags -- Found Ceres version: 1.13.0 installed in: /usr/local with components: [LAPACK, SuiteSparse, SparseLinearAlgebraLibrary, CXSparse, SchurSpecializations, C++11, OpenMP] CMake Warning (dev) at /usr/local/share/cmake-3.20/Modules/FindPackageHandleStandardArgs.cmake:438 (message): The package name passed to `find_package_handle_standard_args` (Lua) does not match the name of the calling package (LuaGoogle). This can lead to problems in calling code that expects `find_package` result variables (e.g., `_FOUND`) to follow a certain pattern. Call Stack (most recent call first): cmake/modules/FindLuaGoogle.cmake:211 (FIND_PACKAGE_HANDLE_STANDARD_ARGS) CMakeLists.txt:41 (find_package) This warning is for project developers. Use -Wno-dev to suppress it. -- Found Lua: /usr/lib/x86_64-linux-gnu/liblua5.2.so;/usr/lib/x86_64-linux-gnu/libm.so (found version "5.2.4") -- Found Protobuf: /usr/local/lib/libprotobuf.a;-lpthread (found suitable version "3.4.0", minimum required is "3.0.0") -- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.1") -- Checking for one of the modules 'cairo>=1.12.16' -- Found Sphinx: /usr/bin/sphinx-build -- Configuring done -- Generating done -- Build files have been written to: /home/u1804/study/cartographer_install/cartographer/build [42/381] cd /home/u1804/study/cartogra...all/cartographer/build/AllFiles.cmake" 文件 /home/u1804/study/cartographer_install/cartographer/build/AllFiles.cmake 和 - 不同 [43/381] Building documentation. Running Sphinx v1.6.7 making output directory... loading pickled environment... not yet created building [mo]: targets for 0 po files that are out of date building [html]: targets for 6 source files that are out of date updating environment: 6 added, 0 changed, 0 removed reading sources... [ 16%] configuration reading sources... [ 33%] cost_functions reading sources... [ 50%] evaluation reading sources... [ 66%] index reading sources... [ 83%] pbstream_migration reading sources... [100%] terminology looking for now-outdated files... none found pickling environment... done checking consistency... done preparing documents... done writing output... [ 16%] configuration writing output... [ 33%] cost_functions writing output... [ 50%] evaluation writing output... [ 66%] index writing output... [ 83%] pbstream_migration writing output... [100%] terminology generating indices... genindex writing additional pages... search copying images... [ 50%] high_level_system_overview.png copying images... [100%] autogenerate_groundtruth.png copying static files... done copying extra files... done dumping search index in English (code: en) ... done dumping object inventory... done build succeeded. [265/381] Linking CXX executable cartographer_print_configuration FAILED: cartographer_print_configuration : && /usr/bin/c++ -O3 -DNDEBUG -rdynamic CMakeFiles/cartographer_print_configuration.dir/cartographer/common/print_configuration_main.cc.o -o cartographer_print_configuration libcartographer.a /usr/local/lib/libceres.a -lglog /usr/lib/x86_64-linux-gnu/libgflags.so.2.2.1 -lspqr -ltbb -ltbbmalloc -lcholmod -lccolamd -lcamd -lcolamd -lamd -llapack -lblas -lf77blas -latlas -lsuitesparseconfig -lrt -lcxsparse -llapack -lblas -lf77blas -latlas -lsuitesparseconfig -lrt -lcxsparse -lgomp -llua5.2 -lm -lboost_iostreams -lboost_regex -lglog /usr/lib/x86_64-linux-gnu/libgflags.so.2.2.1 -lcairo /usr/local/lib/libprotobuf.a /usr/local/lib/libabsl_leak_check.a /usr/local/lib/libabsl_hash.a /usr/local/lib/libabsl_bad_variant_access.a /usr/local/lib/libabsl_city.a /usr/local/lib/libabsl_raw_hash_set.a /usr/local/lib/libabsl_bad_optional_access.a /usr/local/lib/libabsl_hashtablez_sampler.a /usr/local/lib/libabsl_str_format_internal.a /usr/local/lib/libabsl_synchronization.a /usr/local/lib/libabsl_stacktrace.a /usr/local/lib/libabsl_graphcycles_internal.a /usr/local/lib/libabsl_symbolize.a /usr/local/lib/libabsl_malloc_internal.a /usr/local/lib/libabsl_debugging_internal.a /usr/local/lib/libabsl_demangle_internal.a /usr/local/lib/libabsl_time.a /usr/local/lib/libabsl_strings.a /usr/local/lib/libabsl_strings_internal.a /usr/local/lib/libabsl_throw_delegate.a /usr/local/lib/libabsl_base.a /usr/local/lib/libabsl_dynamic_annotations.a /usr/local/lib/libabsl_spinlock_wait.a -lpthread /usr/local/lib/libabsl_int128.a /usr/local/lib/libabsl_civil_time.a /usr/local/lib/libabsl_time_zone.a -lpthread && : CMakeFiles/cartographer_print_configuration.dir/cartographer/common/print_configuration_main.cc.o:在函数‘cartographer::common::PrintSubdictionaryById(cartographer::common::LuaParameterDictionary*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)’中: print_configuration_main.cc:(.text+0x2c3):对‘absl::ByChar::Find(std::basic_string_view<char, std::char_traits<char> >, unsigned long) const’未定义的引用 print_configuration_main.cc:(.text+0x84d):对‘absl::ByChar::Find(std::basic_string_view<char, std::char_traits<char> >, unsigned long) const’未定义的引用 CMakeFiles/cartographer_print_configuration.dir/cartographer/common/print_configuration_main.cc.o:在函数‘absl::strings_internal::Splitter<absl::ByChar, absl::SkipEmpty>::ConvertToContainer<std::vector<std::basic_string_view<char, std::char_traits<char> >, std::allocator<std::basic_string_view<char, std::char_traits<char> > > >, std::basic_string_view<char, std::char_traits<char> >, false>::operator()(absl::strings_internal::Splitter<absl::ByChar, absl::SkipEmpty> const&) const’中: print_configuration_main.cc:(.text._ZNK4absl16strings_internal8SplitterINS_6ByCharENS_9SkipEmptyEE18ConvertToContainerISt6vectorISt17basic_string_viewIcSt11char_traitsIcEESaISA_EESA_Lb0EEclERKS4_[_ZNK4absl16strings_internal8SplitterINS_6ByCharENS_9SkipEmptyEE18ConvertToContainerISt6vectorISt17basic_string_viewIcSt11char_traitsIcEESaISA_EESA_Lb0EEclERKS4_]+0x105):对‘absl::ByChar::Find(std::basic_string_view<char, std::char_traits<char> >, unsigned long) const’未定义的引用 print_configuration_main.cc:(.text._ZNK4absl16strings_internal8SplitterINS_6ByCharENS_9SkipEmptyEE18ConvertToContainerISt6vectorISt17basic_string_viewIcSt11char_traitsIcEESaISA_EESA_Lb0EEclERKS4_[_ZNK4absl16strings_internal8SplitterINS_6ByCharENS_9SkipEmptyEE18ConvertToContainerISt6vectorISt17basic_string_viewIcSt11char_traitsIcEESaISA_EESA_Lb0EEclERKS4_]+0x20d):对‘absl::ByChar::Find(std::basic_string_view<char, std::char_traits<char> >, unsigned long) const’未定义的引用 collect2: error: ld returned 1 exit status [266/381] Linking CXX executable cartographer_pbstream FAILED: cartographer_pbstream : && /usr/bin/c++ -O3 -DNDEBUG -rdynamic CMakeFiles/cartographer_pbstream.dir/cartographer/io/pbstream_main.cc.o -o cartographer_pbstream libcartographer.a /usr/local/lib/libceres.a -lglog /usr/lib/x86_64-linux-gnu/libgflags.so.2.2.1 -lspqr -ltbb -ltbbmalloc -lcholmod -lccolamd -lcamd -lcolamd -lamd -llapack -lblas -lf77blas -latlas -lsuitesparseconfig -lrt -lcxsparse -llapack -lblas -lf77blas -latlas -lsuitesparseconfig -lrt -lcxsparse -lgomp -llua5.2 -lm -lboost_iostreams -lboost_regex -lglog /usr/lib/x86_64-linux-gnu/libgflags.so.2.2.1 -lcairo /usr/local/lib/libprotobuf.a /usr/local/lib/libabsl_leak_check.a /usr/local/lib/libabsl_hash.a /usr/local/lib/libabsl_bad_variant_access.a /usr/local/lib/libabsl_city.a /usr/local/lib/libabsl_raw_hash_set.a /usr/local/lib/libabsl_bad_optional_access.a /usr/local/lib/libabsl_hashtablez_sampler.a /usr/local/lib/libabsl_str_format_internal.a /usr/local/lib/libabsl_synchronization.a /usr/local/lib/libabsl_stacktrace.a /usr/local/lib/libabsl_graphcycles_internal.a /usr/local/lib/libabsl_symbolize.a /usr/local/lib/libabsl_malloc_internal.a /usr/local/lib/libabsl_debugging_internal.a /usr/local/lib/libabsl_demangle_internal.a /usr/local/lib/libabsl_time.a /usr/local/lib/libabsl_strings.a /usr/local/lib/libabsl_strings_internal.a /usr/local/lib/libabsl_throw_delegate.a /usr/local/lib/libabsl_base.a /usr/local/lib/libabsl_dynamic_annotations.a /usr/local/lib/libabsl_spinlock_wait.a -lpthread /usr/local/lib/libabsl_int128.a /usr/local/lib/libabsl_civil_time.a /usr/local/lib/libabsl_time_zone.a -lpthread && : libcartographer.a(histogram.cc.o):在函数‘cartographer::common::Histogram::ToString[abi:cxx11](int) const’中: histogram.cc:(.text+0x3f4):对‘absl::strings_internal::CatPieces[abi:cxx11](std::initializer_list<std::basic_string_view<char, std::char_traits<char> > >)’未定义的引用 histogram.cc:(.text+0xb60):对‘absl::strings_internal::AppendPieces(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >*, std::initializer_list<std::basic_string_view<char, std::char_traits<char> > >)’未定义的引用 collect2: error: ld returned 1 exit status [282/381] Building CXX object CMakeFiles/car...nal/3d/local_trajectory_builder_3d_test.cc.o ninja: build stopped: subcommand failed. [2/104] Linking CXX executable cartographer_print_configuration FAILED: cartographer_print_configuration : && /usr/bin/c++ -O3 -DNDEBUG -rdynamic CMakeFiles/cartographer_print_configuration.dir/cartographer/common/print_configuration_main.cc.o -o cartographer_print_configuration libcartographer.a /usr/local/lib/libceres.a -lglog /usr/lib/x86_64-linux-gnu/libgflags.so.2.2.1 -lspqr -ltbb -ltbbmalloc -lcholmod -lccolamd -lcamd -lcolamd -lamd -llapack -lblas -lf77blas -latlas -lsuitesparseconfig -lrt -lcxsparse -llapack -lblas -lf77blas -latlas -lsuitesparseconfig -lrt -lcxsparse -lgomp -llua5.2 -lm -lboost_iostreams -lboost_regex -lglog /usr/lib/x86_64-linux-gnu/libgflags.so.2.2.1 -lcairo /usr/local/lib/libprotobuf.a /usr/local/lib/libabsl_leak_check.a /usr/local/lib/libabsl_hash.a /usr/local/lib/libabsl_bad_variant_access.a /usr/local/lib/libabsl_city.a /usr/local/lib/libabsl_raw_hash_set.a /usr/local/lib/libabsl_bad_optional_access.a /usr/local/lib/libabsl_hashtablez_sampler.a /usr/local/lib/libabsl_str_format_internal.a /usr/local/lib/libabsl_synchronization.a /usr/local/lib/libabsl_stacktrace.a /usr/local/lib/libabsl_graphcycles_internal.a /usr/local/lib/libabsl_symbolize.a /usr/local/lib/libabsl_malloc_internal.a /usr/local/lib/libabsl_debugging_internal.a /usr/local/lib/libabsl_demangle_internal.a /usr/local/lib/libabsl_time.a /usr/local/lib/libabsl_strings.a /usr/local/lib/libabsl_strings_internal.a /usr/local/lib/libabsl_throw_delegate.a /usr/local/lib/libabsl_base.a /usr/local/lib/libabsl_dynamic_annotations.a /usr/local/lib/libabsl_spinlock_wait.a -lpthread /usr/local/lib/libabsl_int128.a /usr/local/lib/libabsl_civil_time.a /usr/local/lib/libabsl_time_zone.a -lpthread && : CMakeFiles/cartographer_print_configuration.dir/cartographer/common/print_configuration_main.cc.o:在函数‘cartographer::common::PrintSubdictionaryById(cartographer::common::LuaParameterDictionary*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)’中: print_configuration_main.cc:(.text+0x2c3):对‘absl::ByChar::Find(std::basic_string_view<char, std::char_traits<char> >, unsigned long) const’未定义的引用 print_configuration_main.cc:(.text+0x84d):对‘absl::ByChar::Find(std::basic_string_view<char, std::char_traits<char> >, unsigned long) const’未定义的引用 CMakeFiles/cartographer_print_configuration.dir/cartographer/common/print_configuration_main.cc.o:在函数‘absl::strings_internal::Splitter<absl::ByChar, absl::SkipEmpty>::ConvertToContainer<std::vector<std::basic_string_view<char, std::char_traits<char> >, std::allocator<std::basic_string_view<char, std::char_traits<char> > > >, std::basic_string_view<char, std::char_traits<char> >, false>::operator()(absl::strings_internal::Splitter<absl::ByChar, absl::SkipEmpty> const&) const’中: print_configuration_main.cc:(.text._ZNK4absl16strings_internal8SplitterINS_6ByCharENS_9SkipEmptyEE18ConvertToContainerISt6vectorISt17basic_string_viewIcSt11char_traitsIcEESaISA_EESA_Lb0EEclERKS4_[_ZNK4absl16strings_internal8SplitterINS_6ByCharENS_9SkipEmptyEE18ConvertToContainerISt6vectorISt17basic_string_viewIcSt11char_traitsIcEESaISA_EESA_Lb0EEclERKS4_]+0x105):对‘absl::ByChar::Find(std::basic_string_view<char, std::char_traits<char> >, unsigned long) const’未定义的引用 print_configuration_main.cc:(.text._ZNK4absl16strings_internal8SplitterINS_6ByCharENS_9SkipEmptyEE18ConvertToContainerISt6vectorISt17basic_string_viewIcSt11char_traitsIcEESaISA_EESA_Lb0EEclERKS4_[_ZNK4absl16strings_internal8SplitterINS_6ByCharENS_9SkipEmptyEE18ConvertToContainerISt6vectorISt17basic_string_viewIcSt11char_traitsIcEESaISA_EESA_Lb0EEclERKS4_]+0x20d):对‘absl::ByChar::Find(std::basic_string_view<char, std::char_traits<char> >, unsigned long) const’未定义的引用 collect2: error: ld returned 1 exit status [3/104] Linking CXX executable cartographer.transform.rigid_transform_test FAILED: cartographer.transform.rigid_transform_test : && /usr/bin/c++ -O3 -DNDEBUG -rdynamic CMakeFiles/cartographer.transform.rigid_transform_test.dir/cartographer/transform/rigid_transform_test.cc.o -o cartographer.transform.rigid_transform_test libcartographer.a /usr/local/lib/libgmock_main.a /usr/local/lib/libgmock.a /usr/local/lib/libgtest.a -lpthread libcartographer_test_library.a libcartographer.a /usr/local/lib/libceres.a -lglog /usr/lib/x86_64-linux-gnu/libgflags.so.2.2.1 -lspqr -ltbb -ltbbmalloc -lcholmod -lccolamd -lcamd -lcolamd -lamd -llapack -lblas -lf77blas -latlas -lsuitesparseconfig -lrt -lcxsparse -llapack -lblas -lf77blas -latlas -lsuitesparseconfig -lrt -lcxsparse -lgomp -llua5.2 -lm -lboost_iostreams -lboost_regex -lglog /usr/lib/x86_64-linux-gnu/libgflags.so.2.2.1 -lcairo /usr/local/lib/libprotobuf.a /usr/local/lib/libabsl_leak_check.a /usr/local/lib/libabsl_hash.a /usr/local/lib/libabsl_bad_variant_access.a /usr/local/lib/libabsl_city.a /usr/local/lib/libabsl_raw_hash_set.a /usr/local/lib/libabsl_bad_optional_access.a /usr/local/lib/libabsl_hashtablez_sampler.a /usr/local/lib/libabsl_str_format_internal.a /usr/local/lib/libabsl_synchronization.a /usr/local/lib/libabsl_stacktrace.a /usr/local/lib/libabsl_graphcycles_internal.a /usr/local/lib/libabsl_symbolize.a /usr/local/lib/libabsl_malloc_internal.a /usr/local/lib/libabsl_debugging_internal.a /usr/local/lib/libabsl_demangle_internal.a /usr/local/lib/libabsl_time.a /usr/local/lib/libabsl_strings.a /usr/local/lib/libabsl_strings_internal.a /usr/local/lib/libabsl_throw_delegate.a /usr/local/lib/libabsl_base.a /usr/local/lib/libabsl_dynamic_annotations.a /usr/local/lib/libabsl_spinlock_wait.a -lpthread /usr/local/lib/libabsl_int128.a /usr/local/lib/libabsl_civil_time.a /usr/local/lib/libabsl_time_zone.a -lpthread /usr/local/lib/libgmock.a && : CMakeFiles/cartographer.transform.rigid_transform_test.dir/cartographer/transform/rigid_transform_test.cc.o:在函数‘std::ostream& cartographer::transform::operator<< <double>(std::ostream&, cartographer::transform::Rigid2<double> const&)’中: rigid_transform_test.cc:(.text._ZN12cartographer9transformlsIdEERSoS2_RKNS0_6Rigid2IT_EE[_ZN12cartographer9transformlsIdEERSoS2_RKNS0_6Rigid2IT_EE]+0x110):对‘absl::substitute_internal::SubstituteAndAppendArray(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >*, std::basic_string_view<char, std::char_traits<char> >, std::basic_string_view<char, std::char_traits<char> > const*, unsigned long)’未定义的引用 CMakeFiles/cartographer.transform.rigid_transform_test.dir/cartographer/transform/rigid_transform_test.cc.o:在函数‘std::ostream& cartographer::transform::operator<< <float>(std::ostream&, cartographer::transform::Rigid2<float> const&)’中: rigid_transform_test.cc:(.text._ZN12cartographer9transformlsIfEERSoS2_RKNS0_6Rigid2IT_EE[_ZN12cartographer9transformlsIfEERSoS2_RKNS0_6Rigid2IT_EE]+0x11c):对‘absl::substitute_internal::SubstituteAndAppendArray(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >*, std::basic_string_view<char, std::char_traits<char> >, std::basic_string_view<char, std::char_traits<char> > const*, unsigned long)’未定义的引用 CMakeFiles/cartographer.transform.rigid_transform_test.dir/cartographer/transform/rigid_transform_test.cc.o:在函数‘cartographer::transform::Rigid3<double>::DebugString[abi:cxx11]() const’中: rigid_transform_test.cc:(.text._ZNK12cartographer9transform6Rigid3IdE11DebugStringB5cxx11Ev[_ZNK12cartographer9transform6Rigid3IdE11DebugStringB5cxx11Ev]+0x20f):对‘absl::substitute_internal::SubstituteAndAppendArray(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >*, std::basic_string_view<char, std::char_traits<char> >, std::basic_string_view<char, std::char_traits<char> > const*, unsigned long)’未定义的引用 CMakeFiles/cartographer.transform.rigid_transform_test.dir/cartographer/transform/rigid_transform_test.cc.o:在函数‘cartographer::transform::Rigid3<float>::DebugString[abi:cxx11]() const’中: rigid_transform_test.cc:(.text._ZNK12cartographer9transform6Rigid3IfE11DebugStringB5cxx11Ev[_ZNK12cartographer9transform6Rigid3IfE11DebugStringB5cxx11Ev]+0x22b):对‘absl::substitute_internal::SubstituteAndAppendArray(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >*, std::basic_string_view<char, std::char_traits<char> >, std::basic_string_view<char, std::char_traits<char> > const*, unsigned long)’未定义的引用 CMakeFiles/cartographer.transform.rigid_transform_test.dir/cartographer/transform/rigid_transform_test.cc.o:在函数‘cartographer::transform::IsNearlyMatcherP2<cartographer::transform::Rigid2<float>, float>::gmock_Impl<cartographer::transform::Rigid2<float> const&>::FormatDescription[abi:cxx11](bool) const’中: rigid_transform_test.cc:(.text._ZNK12cartographer9transform17IsNearlyMatcherP2INS0_6Rigid2IfEEfE10gmock_ImplIRKS3_E17FormatDescriptionB5cxx11Eb[_ZNK12cartographer9transform17IsNearlyMatcherP2INS0_6Rigid2IfEEfE10gmock_ImplIRKS3_E17FormatDescriptionB5cxx11Eb]+0x17f):对‘absl::substitute_internal::SubstituteAndAppendArray(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >*, std::basic_string_view<char, std::char_traits<char> >, std::basic_string_view<char, std::char_traits<char> > const*, unsigned long)’未定义的引用 CMakeFiles/cartographer.transform.rigid_transform_test.dir/cartographer/transform/rigid_transform_test.cc.o:rigid_transform_test.cc:(.text._ZNK12cartographer9transform17IsNearlyMatcherP2INS0_6Rigid2IdEEdE10gmock_ImplIRKS3_E17FormatDescriptionB5cxx11Eb[_ZNK12cartographer9transform17IsNearlyMatcherP2INS0_6Rigid2IdEEdE10gmock_ImplIRKS3_E17FormatDescriptionB5cxx11Eb]+0x173): 跟着更多未定义的参考到 absl::substitute_internal::SubstituteAndAppendArray(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >*, std::basic_string_view<char, std::char_traits<char> >, std::basic_string_view<char, std::char_traits<char> > const*, unsigned long) collect2: error: ld returned 1 exit status [4/104] Linking CXX executable cartographer_pbstream FAILED: cartographer_pbstream : && /usr/bin/c++ -O3 -DNDEBUG -rdynamic CMakeFiles/cartographer_pbstream.dir/cartographer/io/pbstream_main.cc.o -o cartographer_pbstream libcartographer.a /usr/local/lib/libceres.a -lglog /usr/lib/x86_64-linux-gnu/libgflags.so.2.2.1 -lspqr -ltbb -ltbbmalloc -lcholmod -lccolamd -lcamd -lcolamd -lamd -llapack -lblas -lf77blas -latlas -lsuitesparseconfig -lrt -lcxsparse -llapack -lblas -lf77blas -latlas -lsuitesparseconfig -lrt -lcxsparse -lgomp -llua5.2 -lm -lboost_iostreams -lboost_regex -lglog /usr/lib/x86_64-linux-gnu/libgflags.so.2.2.1 -lcairo /usr/local/lib/libprotobuf.a /usr/local/lib/libabsl_leak_check.a /usr/local/lib/libabsl_hash.a /usr/local/lib/libabsl_bad_variant_access.a /usr/local/lib/libabsl_city.a /usr/local/lib/libabsl_raw_hash_set.a /usr/local/lib/libabsl_bad_optional_access.a /usr/local/lib/libabsl_hashtablez_sampler.a /usr/local/lib/libabsl_str_format_internal.a /usr/local/lib/libabsl_synchronization.a /usr/local/lib/libabsl_stacktrace.a /usr/local/lib/libabsl_graphcycles_internal.a /usr/local/lib/libabsl_symbolize.a /usr/local/lib/libabsl_malloc_internal.a /usr/local/lib/libabsl_debugging_internal.a /usr/local/lib/libabsl_demangle_internal.a /usr/local/lib/libabsl_time.a /usr/local/lib/libabsl_strings.a /usr/local/lib/libabsl_strings_internal.a /usr/local/lib/libabsl_throw_delegate.a /usr/local/lib/libabsl_base.a /usr/local/lib/libabsl_dynamic_annotations.a /usr/local/lib/libabsl_spinlock_wait.a -lpthread /usr/local/lib/libabsl_int128.a /usr/local/lib/libabsl_civil_time.a /usr/local/lib/libabsl_time_zone.a -lpthread && : libcartographer.a(histogram.cc.o):在函数‘cartographer::common::Histogram::ToString[abi:cxx11](int) const’中: histogram.cc:(.text+0x3f4):对‘absl::strings_internal::CatPieces[abi:cxx11](std::initializer_list<std::basic_string_view<char, std::char_traits<char> > >)’未定义的引用 histogram.cc:(.text+0xb60):对‘absl::strings_internal::AppendPieces(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >*, std::initializer_list<std::basic_string_view<char, std::char_traits<char> > >)’未定义的引用 collect2: error: ld returned 1 exit status [19/104] Building CXX object CMakeFiles/cart...unctions/landmark_cost_function_3d_test.cc.o ninja: build stopped: subcommand failed. u1804@u1804-Lenovo-Legion-R9000K2021H:~/study/cartographer_install$
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08-21
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