compile error, ask for suggestion

[QAbot-zh]

I want to compile the code, but I got some error. Could you provide me some suggestion?
The error information is as below:

➜  build git:(master) cmake ..                    
-- Boost version: 1.58.0
-- Found the following Boost libraries:
--   serialization
--   system
--   filesystem
--   thread
--   program_options
--   date_time
--   timer
--   chrono
--   regex
--   atomic
-- GTSAM include directory:  /usr/local/lib/cmake/GTSAM/../../../include
-- Boost version: 1.58.0
-- Boost version: 1.58.0
-- Found the following Boost libraries:
--   filesystem
--   system
-- Boost version: 1.58.0
-- Found the following Boost libraries:
--   system
-- Boost version: 1.58.0
-- Found the following Boost libraries:
--   thread
--   chrono
--   system
--   date_time
--   atomic
-- Boost version: 1.58.0
-- Found the following Boost libraries:
--   serialization
-- gpmp2 include directory:  /usr/local/lib/cmake/gpmp2/../../../include
-- Building Module: gp
-- Building Module: prior
-- Wrote /home/zxy/learning-code/clamp/build/clampConfig.cmake
-- Configuring done
-- Generating done
-- Build files have been written to: /home/zxy/learning-code/clamp/build
➜  build git:(master) make check             
Scanning dependencies of target clamp
[ 20%] Linking CXX shared library libclamp.so
[ 20%] Built target clamp
Scanning dependencies of target testGaussianPriorCartesianLinearArm
[ 40%] Building CXX object clamp/prior/CMakeFiles/testGaussianPriorCartesianLinearArm.dir/tests/testGaussianPriorCartesianLinearArm.cpp.o
In file included from /home/zxy/learning-code/clamp/clamp/prior/GaussianPriorCartesianLinearArm.h:12:0,
                 from /home/zxy/learning-code/clamp/clamp/prior/tests/testGaussianPriorCartesianLinearArm.cpp:17:
/home/zxy/learning-code/clamp/clamp/prior/GaussianPriorCartesianLinear.h: In instantiation of ‘gtsam::Vector clamp::GaussianPriorCartesianLinear<ROBOT>::evaluateError(const Pose&, const Velocity&, boost::optional<Eigen::Matrix<double, -1, -1>&>, boost::optional<Eigen::Matrix<double, -1, -1>&>) const [with ROBOT = gpmp2::RobotModel<gpmp2::Arm>; gtsam::Vector = Eigen::Matrix<double, -1, 1>; clamp::GaussianPriorCartesianLinear<ROBOT>::Pose = Eigen::Matrix<double, -1, 1>; clamp::GaussianPriorCartesianLinear<ROBOT>::Velocity = Eigen::Matrix<double, -1, 1>]’:
/home/zxy/learning-code/clamp/clamp/prior/tests/testGaussianPriorCartesianLinearArm.cpp:54:57:   required from here
/home/zxy/learning-code/clamp/clamp/prior/GaussianPriorCartesianLinear.h:80:7: error: ‘const Robot {aka const class gpmp2::RobotModel<gpmp2::Arm>}’ has no member named ‘sphereCentersAndVels’
       end_eff_.sphereCentersAndVels(p, v, px, vx, J_px_p, J_vx_v);
       ^
/home/zxy/learning-code/clamp/clamp/prior/GaussianPriorCartesianLinear.h:82:7: error: ‘const Robot {aka const class gpmp2::RobotModel<gpmp2::Arm>}’ has no member named ‘sphereCentersAndVels’
       end_eff_.sphereCentersAndVels(p, v, px, vx);
       ^
clamp/prior/CMakeFiles/testGaussianPriorCartesianLinearArm.dir/build.make:62: recipe for target 'clamp/prior/CMakeFiles/testGaussianPriorCartesianLinearArm.dir/tests/testGaussianPriorCartesianLinearArm.cpp.o' failed
make[3]: *** [clamp/prior/CMakeFiles/testGaussianPriorCartesianLinearArm.dir/tests/testGaussianPriorCartesianLinearArm.cpp.o] Error 1
CMakeFiles/Makefile2:425: recipe for target 'clamp/prior/CMakeFiles/testGaussianPriorCartesianLinearArm.dir/all' failed
make[2]: *** [clamp/prior/CMakeFiles/testGaussianPriorCartesianLinearArm.dir/all] Error 2
CMakeFiles/Makefile2:172: recipe for target 'CMakeFiles/check.dir/rule' failed
make[1]: *** [CMakeFiles/check.dir/rule] Error 2
Makefile:212: recipe for target 'check' failed
make: *** [check] Error 2

[QAbot-zh]

It seems that there is no sphereCentersAndVels method in gpmp2 library.
Do your group modify gpmp2 library? I use the lastest gpmp2 library by compiling the github code.

[CodingCatMountain]

@undefinedcodezhong Hello, May I ask that could you build this package successfully?

[QAbot-zh]

No, lack of implementation of key methods, and the original author has not responded with relevant information, so I don't build the package successfully.

[CodingCatMountain]

@undefinedcodezhong Thank you for replying! Could not reproduce the results in paper is really annoying : (