Error in compiling softrobots plugin, cableConstraint in SOFA 21.06 version.

[Pasquale94]

Hello everyone, i am ting to doeload the source codes of the new version of SOFA (21.06) in ubuntu 20.04, and I encountered this error when i try to compile the Soft Robots plugin ( i downloaded the master version on github).

In file included from /home/pasquale/sofa/src/SofaKernel/modules/SofaCore/src/sofa/core/objectmodel/BaseClass.h:27,
                 from /home/pasquale/sofa/src/SofaKernel/modules/SofaCore/src/sofa/core/objectmodel/Base.h:28,
                 from /home/pasquale/sofa/src/SofaKernel/modules/SofaCore/src/sofa/core/objectmodel/BaseContext.h:25,
                 from /home/pasquale/sofa/src/SofaKernel/modules/SofaCore/src/sofa/core/objectmodel/BaseObject.h:25,
                 from /home/pasquale/sofa/src/SofaKernel/modules/SofaCore/src/sofa/core/BaseState.h:25,
                 from /home/pasquale/sofa/src/SofaKernel/modules/SofaCore/src/sofa/core/behavior/BaseMechanicalState.h:26,
                 from /home/pasquale/sofa/src/SofaKernel/modules/SofaCore/src/sofa/core/behavior/MechanicalState.h:24,
                 from /home/pasquale/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/constraint/model/../../behavior/SoftRobotsConstraint.h:33,
                 from /home/pasquale/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/constraint/model/CableModel.h:36,
                 from /home/pasquale/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/constraint/CableConstraint.h:34,
                 from /home/pasquale/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/constraint/CableConstraint.inl:34,
                 from /home/pasquale/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/constraint/CableConstraint.cpp:32:
/home/pasquale/sofa/src/SofaKernel/modules/SofaCore/src/sofa/core/objectmodel/SPtr.h: In instantiation of ‘sofa::core::objectmodel::New<T>::New(Args&& ...) [with Args = {}; T = sofa::component::constraintset::CableConstraint<sofa::defaulttype::StdVectorTypes<sofa::type::Vec<2, double>, sofa::type::Vec<2, double>, double> >]’:
/home/pasquale/sofa/src/SofaKernel/modules/SofaCore/src/sofa/core/objectmodel/BaseObject.h:74:57:   required from ‘static typename T::SPtr sofa::core::objectmodel::BaseObject::create(T*, sofa::core::objectmodel::BaseContext*, sofa::core::objectmodel::BaseObjectDescription*) [with T = sofa::component::constraintset::CableConstraint<sofa::defaulttype::StdVectorTypes<sofa::type::Vec<2, double>, sofa::type::Vec<2, double>, double> >; typename T::SPtr = boost::intrusive_ptr<sofa::component::constraintset::CableConstraint<sofa::defaulttype::StdVectorTypes<sofa::type::Vec<2, double>, sofa::type::Vec<2, double>, double> > >]’
/home/pasquale/sofa/src/SofaKernel/modules/SofaCore/src/sofa/core/ObjectFactory.h:208:34:   required from ‘sofa::core::objectmodel::BaseObject::SPtr sofa::core::ObjectCreator<RealObject>::createInstance(sofa::core::objectmodel::BaseContext*, sofa::core::objectmodel::BaseObjectDescription*) [with RealObject = sofa::component::constraintset::CableConstraint<sofa::defaulttype::StdVectorTypes<sofa::type::Vec<2, double>, sofa::type::Vec<2, double>, double> >; sofa::core::objectmodel::BaseObject::SPtr = boost::intrusive_ptr<sofa::core::objectmodel::BaseObject>]’
/home/pasquale/sofa/src/SofaKernel/modules/SofaCore/src/sofa/core/ObjectFactory.h:205:35:   required from here
/home/pasquale/sofa/src/SofaKernel/modules/SofaCore/src/sofa/core/objectmodel/SPtr.h:56:34: error: invalid new-expression of abstract class type ‘sofa::component::constraintset::CableConstraint<sofa::defaulttype::StdVectorTypes<sofa::type::Vec<2, double>, sofa::type::Vec<2, double>, double> >’
   56 |     New(Args&& ... args) : SPtr( new T(std::forward<Args>(args)...) ) { }
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /home/pasquale/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/constraint/CableConstraint.inl:34,
                 from /home/pasquale/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/constraint/CableConstraint.cpp:32:
/home/pasquale/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/constraint/CableConstraint.h:103:7: note:   because the following virtual functions are pure within ‘sofa::component::constraintset::CableConstraint<sofa::defaulttype::StdVectorTypes<sofa::type::Vec<2, double>, sofa::type::Vec<2, double>, double> >’:
  103 | class CableConstraint : public CableModel<DataTypes>
      |       ^~~~~~~~~~~~~~~
In file included from /home/pasquale/sofa/src/SofaKernel/modules/SofaCore/src/sofa/core/behavior/BaseConstraint.h:25,
                 from /home/pasquale/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/constraint/model/../../behavior/SoftRobotsBaseConstraint.h:33,
                 from /home/pasquale/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/constraint/model/../../behavior/SoftRobotsConstraint.h:34,
                 from /home/pasquale/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/constraint/model/CableModel.h:36,
                 from /home/pasquale/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/constraint/CableConstraint.h:34,
                 from /home/pasquale/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/constraint/CableConstraint.inl:34,
                 from /home/pasquale/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/constraint/CableConstraint.cpp:32:
/home/pasquale/sofa/src/SofaKernel/modules/SofaCore/src/sofa/core/behavior/BaseConstraintSet.h:102:18: note: 	‘virtual void sofa::core::behavior::BaseConstraintSet::updateForceMask()’
  102 |     virtual void updateForceMask() = 0;
      |                  ^~~~~~~~~~~~~~~
In file included from /home/pasquale/sofa/src/SofaKernel/modules/SofaCore/src/sofa/core/objectmodel/BaseClass.h:27,
                 from /home/pasquale/sofa/src/SofaKernel/modules/SofaCore/src/sofa/core/objectmodel/Base.h:28,
                 from /home/pasquale/sofa/src/SofaKernel/modules/SofaCore/src/sofa/core/objectmodel/BaseContext.h:25,
                 from /home/pasquale/sofa/src/SofaKernel/modules/SofaCore/src/sofa/core/objectmodel/BaseObject.h:25,
                 from /home/pasquale/sofa/src/SofaKernel/modules/SofaCore/src/sofa/core/BaseState.h:25,
                 from /home/pasquale/sofa/src/SofaKernel/modules/SofaCore/src/sofa/core/behavior/BaseMechanicalState.h:26,
                 from /home/pasquale/sofa/src/SofaKernel/modules/SofaCore/src/sofa/core/behavior/MechanicalState.h:24,
                 from /home/pasquale/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/constraint/model/../../behavior/SoftRobotsConstraint.h:33,
                 from /home/pasquale/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/constraint/model/CableModel.h:36,
                 from /home/pasquale/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/constraint/CableConstraint.h:34,
                 from /home/pasquale/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/constraint/CableConstraint.inl:34,
                 from /home/pasquale/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/constraint/CableConstraint.cpp:32:
/home/pasquale/sofa/src/SofaKernel/modules/SofaCore/src/sofa/core/objectmodel/SPtr.h: In instantiation of ‘sofa::core::objectmodel::New<T>::New(Args&& ...) [with Args = {}; T = sofa::component::constraintset::CableConstraint<sofa::defaulttype::StdVectorTypes<sofa::type::Vec<3, double>, sofa::type::Vec<3, double>, double> >]’:
/home/pasquale/sofa/src/SofaKernel/modules/SofaCore/src/sofa/core/objectmodel/BaseObject.h:74:57:   required from ‘static typename T::SPtr sofa::core::objectmodel::BaseObject::create(T*, sofa::core::objectmodel::BaseContext*, sofa::core::objectmodel::BaseObjectDescription*) [with T = sofa::component::constraintset::CableConstraint<sofa::defaulttype::StdVectorTypes<sofa::type::Vec<3, double>, sofa::type::Vec<3, double>, double> >; typename T::SPtr = boost::intrusive_ptr<sofa::component::constraintset::CableConstraint<sofa::defaulttype::StdVectorTypes<sofa::type::Vec<3, double>, sofa::type::Vec<3, double>, double> > >]’
/home/pasquale/sofa/src/SofaKernel/modules/SofaCore/src/sofa/core/ObjectFactory.h:208:34:   required from ‘sofa::core::objectmodel::BaseObject::SPtr sofa::core::ObjectCreator<RealObject>::createInstance(sofa::core::objectmodel::BaseContext*, sofa::core::objectmodel::BaseObjectDescription*) [with RealObject = sofa::component::constraintset::CableConstraint<sofa::defaulttype::StdVectorTypes<sofa::type::Vec<3, double>, sofa::type::Vec<3, double>, double> >; sofa::core::objectmodel::BaseObject::SPtr = boost::intrusive_ptr<sofa::core::objectmodel::BaseObject>]’
/home/pasquale/sofa/src/SofaKernel/modules/SofaCore/src/sofa/core/ObjectFactory.h:205:35:   required from here
/home/pasquale/sofa/src/SofaKernel/modules/SofaCore/src/sofa/core/objectmodel/SPtr.h:56:34: error: invalid new-expression of abstract class type ‘sofa::component::constraintset::CableConstraint<sofa::defaulttype::StdVectorTypes<sofa::type::Vec<3, double>, sofa::type::Vec<3, double>, double> >’
   56 |     New(Args&& ... args) : SPtr( new T(std::forward<Args>(args)...) ) { }
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /home/pasquale/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/constraint/CableConstraint.inl:34,
                 from /home/pasquale/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/constraint/CableConstraint.cpp:32:
/home/pasquale/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/constraint/CableConstraint.h:103:7: note:   because the following virtual functions are pure within ‘sofa::component::constraintset::CableConstraint<sofa::defaulttype::StdVectorTypes<sofa::type::Vec<3, double>, sofa::type::Vec<3, double>, double> >’:
  103 | class CableConstraint : public CableModel<DataTypes>
      |       ^~~~~~~~~~~~~~~
In file included from /home/pasquale/sofa/src/SofaKernel/modules/SofaCore/src/sofa/core/behavior/BaseConstraint.h:25,
                 from /home/pasquale/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/constraint/model/../../behavior/SoftRobotsBaseConstraint.h:33,
                 from /home/pasquale/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/constraint/model/../../behavior/SoftRobotsConstraint.h:34,
                 from /home/pasquale/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/constraint/model/CableModel.h:36,
                 from /home/pasquale/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/constraint/CableConstraint.h:34,
                 from /home/pasquale/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/constraint/CableConstraint.inl:34,
                 from /home/pasquale/sofa/src/applications/plugins/SoftRobots/src/SoftRobots/component/constraint/CableConstraint.cpp:32:
/home/pasquale/sofa/src/SofaKernel/modules/SofaCore/src/sofa/core/behavior/BaseConstraintSet.h:102:18: note: 	‘virtual void sofa::core::behavior::BaseConstraintSet::updateForceMask()’
  102 |     virtual void updateForceMask() = 0;
      |                  ^~~~~~~~~~~~~~~
make[2]: *** [applications/plugins/SoftRobots/CMakeFiles/SoftRobots.dir/build.make:102: applications/plugins/SoftRobots/CMakeFiles/SoftRobots.dir/src/SoftRobots/component/constraint/CableConstraint.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:13770: applications/plugins/SoftRobots/CMakeFiles/SoftRobots.dir/all] Error 2
make: *** [Makefile:152: all] Error 2 

How can I resolve this?
Thanks in advance.

[Hugo]

Hey @pasquale94

You should compile the v21.06 branch of the SoftRobots plugin with the v21.06 release of SOFA.
Let me know if this solves the issue.
Best wishes,

Hugo

[Author]

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