problems compiling this library

[marvin-ad-martianum]

osqp is a great library and i would love to use it. however, i canot build the osqp-eigen library. osqp is installed on an ubuntu 16. i get the follwoing output trying to build

any help would be appreciated.

marvin@X1-Y-4:/Code/osqp-eigen/build$ cmake .
osqp found: 1
osqp include directories:
osqp libraries:
-- osqp library path: /usr/local/lib/libosqp.so
-- osqp include path: /usr/local/include/osqp
-- Configuring done (0.1s)
-- Generating done (0.0s)
-- Build files have been written to: /home/marvin/Code/osqp-eigen/build
marvin@X1-Y-4:/Code/osqp-eigen/build$ make
[ 20%] Building CXX object CMakeFiles/OsqpEigen.dir/src/Data.cpp.o
In file included from /home/marvin/Code/osqp-eigen/include/OsqpEigen/Data.hpp:18,
from /home/marvin/Code/osqp-eigen/src/Data.cpp:12:
/home/marvin/Code/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.hpp:43:37: error: ‘csc’ has not been declared
43 | csc*& osqpSparseMatrix);
| ^~~
/home/marvin/Code/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.hpp:52:56: error: ‘csc’ does not name a type
52 | bool osqpSparseMatrixToEigenSparseMatrix(const csc* const & osqpSparseMatrix,
| ^~~
/home/marvin/Code/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.hpp:62:47: error: ‘csc’ does not name a type
62 | bool osqpSparseMatrixToTriplets(const csc* const & osqpSparseMatrix,
| ^~~
In file included from /home/marvin/Code/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.hpp:77,
from /home/marvin/Code/osqp-eigen/include/OsqpEigen/Data.hpp:18,
from /home/marvin/Code/osqp-eigen/src/Data.cpp:12:
/home/marvin/Code/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:12:62: error: ‘csc’ has not been declared
12 | csc*& osqpSparseMatrix)
| ^~~
In file included from /home/marvin/Code/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.hpp:77,
from /home/marvin/Code/osqp-eigen/include/OsqpEigen/Data.hpp:18,
from /home/marvin/Code/osqp-eigen/src/Data.cpp:12:
/home/marvin/Code/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp: In function ‘bool OsqpEigen::SparseMatrixHelper::createOsqpSparseMatrix(const Eigen::SparseCompressedBase&, int*&)’:
/home/marvin/Code/osqp-eigen/include/OsqpEigen/SparseMatrixHelper.tpp:18:5: error: ‘c_int’ was not declared in this scope; did you mean ‘u_int’?
18 | c_int rows = colMajorCopy.rows();
| ^~~~~
| u_int
.....

[Yilgrimage]

Hahaha,I had this problem too and then realized no one was answering you, but luckily I just solved it! it seems like you didn't set correct lib link when you compiling.
/usr/bin/g++ -fdiagnostics-color=always -g /home/yilgrimage/work/other/mpc.cpp -o /home/yilgrimage/work/other/mpc -L /usr/local/lib/ -lOsqpEigen -L /usr/lib/x86_64-linux-gnu/ -losqp
"-L" means the path to your lib file, and "-lxxx" means lib file name.btw you should notice that libOsqpEigen relies on libosqp so you should add libosqp's path too,

[marvin-ad-martianum]

yea. thank you. it is quite ugly but i had to solve it this way. because osqp and osqp-eigen are not detected by automatic reading. no idea why.

target_link_libraries(controller_test_mpc
${catkin_LIBRARIES}
${eigen3}
${osqp}
/usr/local/lib/libOsqpEigen.so
/usr/local/lib/libosqp.so
)

[traversaro]

Hello @marvin-ad-martianum and @Yilgrimage , see:

• Compilation error:‘csc’ has not been declared #135
• Cannot build osqp-eigen from source #136
• there is a problem when building it #137

TL;DR: Now osqp default branch points to the unreleased 1.0.0 version, while osqp-eigen default branch is only compatible with osqp <= 0.6.3 at the moment. If you install osqp 0.6.3 (the latest stable release) everything should work.

[GiulioRomualdi]

Since #131 got merged, master is now compatible with osqp master.

Closing for the time being, in case of issue feel free to open it again 😃