[simspark-devel] Link error: undefined reference to typeinfo for [...]

[Huang Y. <air...@gm...>]

Hi, all.

Today I tried to modify the main.cpp in rcssserver3d and run my test. But I
got the following link error:
--------------------------------------------
CMakeFiles/rcssserver3d.dir/main.cpp.o: In function
`boost::shared_ptr<BallStateAspect>
boost::shared_dynamic_cast<BallStateAspect,
zeitgeist::Leaf>(boost::shared_ptr<zeitgeist::Leaf> const&)':
main.cpp:(.text._ZN5boost19shared_dynamic_castI15BallStateAspectN9zeitgeist4LeafEEENS_10shared_ptrIT_EERKNS4_IT0_EE[boost::shared_ptr<BallStateAspect>
boost::shared_dynamic_cast<BallStateAspect,
zeitgeist::Leaf>(boost::shared_ptr<zeitgeist::Leaf> const&)]+0x29):
undefined reference to `typeinfo for BallStateAspect'
collect2: ld returned 1 exit status
make[2]: *** [rcssserver3d/rcssserver3d] Error 1
make[1]: *** [rcssserver3d/CMakeFiles/rcssserver3d.dir/all] Error 2
make: *** [all] Error 2
---------------------------------------------

Here is my modification: (main.cpp is the modified version, main.bak.cpp is
the original one)

--- main.cpp    2010-03-31 13:54:31.000000000 +0800
+++ main.bak.cpp    2010-03-24 13:02:38.000000000 +0800
@@ -2,7 +2,7 @@
    this file is part of rcssserver3D
    Fri May 9 2003
    Copyright (C) 2003 Koblenz University
-   $Id: main.cpp 140 2010-01-10 23:45:10Z hedayat $
+   $Id: main.cpp 181 2010-02-28 10:55:34Z marianbuchta $

    This program is free software; you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
@@ -25,12 +25,6 @@
 #include <kerosin/renderserver/rendercontrol.h>
 #include <kerosin/inputserver/inputcontrol.h>

-#include <salt/vector.h>
-#include <oxygen/agentaspect/agentaspect.h>
-#include <../plugin/soccer/ball/ball.h>
-#include <../plugin/soccer/soccerbase/soccerbase.h>
-#include <../plugin/soccer/soccertypes.h>
-#include <../plugin/soccer/ballstateaspect/ballstateaspect.h>
 #ifdef HAVE_CONFIG_H
 #undef PACKAGE_NAME
 #include <rcssserver3d_config.h>
@@ -77,7 +71,7 @@
     GetLog()->Normal()
         << "rcssserver3d (formerly simspark), a monolithic simulator
0.6.1\n"
         << "Copyright (C) 2004 Markus Rollmann, \n"
-        << "Universit?t Koblenz.\n"
+        << "Universität Koblenz.\n"
         << "Copyright (C) 2004-2009, "
         << "The RoboCup Soccer Server Maintenance Group.\n"
         << "\nType '--help' for further information\n\n";
@@ -134,7 +128,7 @@
     GetScriptServer()->Run(mScriptPath);

     // tell the inputControl node the loaction of our camera
-    shared_ptr<InputControl> inputCtr = GetInputControl();
+    boost::shared_ptr<InputControl> inputCtr = GetInputControl();
     if (inputCtr.get() != 0)
     {
         inputCtr->SetFPSController("/usr/scene/camera/physics/controller");
@@ -142,63 +136,26 @@

     return true;
 }
-SimSpark sparkinstance("../../");
-void Test(){
- SimSpark *spark=&sparkinstance;
- int cycle=0;
- while(cycle<=0){
-  cycle=spark->GetSimulationServer()->GetCycle();
-  cout <<cycle <<endl;
-  spark->GetLog()->Normal()<< "Simulation Server was running\\n";
- }
- boost::shared_ptr<Ball> ball;
- shared_ptr<Scene> scene=spark->GetActiveScene();
-
- /*
- ball = shared_dynamic_cast<Ball>
-            (spark->GetCore()->Get(scene->GetFullPath() + "Ball"));
- shared_ptr<BallStateAspect> ballStateAspect =
shared_dynamic_cast<BallStateAspect>
-
(spark->GetCore()->Get("/sys/server/gamecontrol/BallStateAspect"));
- boost::shared_ptr<oxygen::AgentAspect> agent =
spark->GetSimulationServer()->
-  GetGameControlServer()->GetAgentAspect(1);
-  */
-
-
-
- const salt::Vector3f force(1.0,2.0,3.0);
- const salt::Vector3f torque(1.0,2.0,3.0);
-
- //ball->SetAcceleration(cycle, force,torque,agent);
- //ball->PrePhysicsUpdateInternal(10);
- //spark->GetSimulationServer()->GetSceneServer()->
-
- while(true){
-  //cout << agent->ID() << endl;
- }
-}

 int main(int argc, char** argv)
 {
     // the spark app framework instance
-
-
-    if (! sparkinstance.Init(argc, argv))
+    SimSpark spark("../../");
+
+    if (! spark.Init(argc, argv))
     {
         return 1;
     }
- boost::thread thrd(Test);
- //thrd.detach();
-
- sparkinstance.GetSimulationServer()->Run(argc,argv);
- thrd.join();

-    shared_ptr<RenderControl> renderCtr = sparkinstance.GetRenderControl();
+    spark.GetSimulationServer()->Run(argc,argv);
+
+    boost::shared_ptr<RenderControl> renderCtr = spark.GetRenderControl();
     if (renderCtr.get() != 0)
     {
-        sparkinstance.GetLog()->Normal()
+        spark.GetLog()->Normal()
             << "Average FPS: "
             << renderCtr->GetFramesRendered() /
-            sparkinstance.GetSimulationServer()->GetTime()
+            spark.GetSimulationServer()->GetTime()
             << "\n";
     }

The link error appeared after I uncomment the following lines:
===========================================
- ball = shared_dynamic_cast<Ball>
-            (spark->GetCore()->Get(scene->GetFullPath() + "Ball"));
- shared_ptr<BallStateAspect> ballStateAspect =
shared_dynamic_cast<BallStateAspect>
-
(spark->GetCore()->Get("/sys/server/gamecontrol/BallStateAspect"));
- boost::shared_ptr<oxygen::AgentAspect> agent =
spark->GetSimulationServer()->
-  GetGameControlServer()->GetAgentAspect(1);
===========================================

And I search on the net for the type of the error. It seems that some
classes in the hierarchy have some null non-pure virtual functions.
What's the real problem about this error?? How do I get the modification
work??

-- 
Best regards,
Yaolong Huang(Curtis)

Tianjin University, China

Blog: http://blog.csdn.net/airekans/