C++ Standard librarty question for 101 board

Official Hardware Retired 101
1

I been modifying some code and running into a compile problem for things like enable_if, is_base_of, is_floating_point, etc which are all elements of c++ std library. Believe they are in type_traits. The errors I am getting are as follows:

In file included from C:\Users\CyberPalin\Documents\Arduino\Flyby_Waypoint\Flyby_Waypoint.ino:5:0:

C:\Users\CyberPalin\Documents\Arduino\libraries\AP_Math_freeimu/AP_Math_freeimu.h:33:15: error: 'enable_if' in namespace 'std' does not name a type

 typename std::enable_if<std::is_integral<typename std::common_type<Arithmetic1, Arithmetic2>::type>::value ,bool>::type

               ^

C:\Users\CyberPalin\Documents\Arduino\libraries\AP_Math_freeimu/AP_Math_freeimu.h:33:24: error: expected unqualified-id before '<' token

 typename std::enable_if<std::is_integral<typename std::common_type<Arithmetic1, Arithmetic2>::type>::value ,bool>::type

                        ^

C:\Users\CyberPalin\Documents\Arduino\libraries\AP_Math_freeimu/AP_Math_freeimu.h:37:15: error: 'enable_if' in namespace 'std' does not name a type

 typename std::enable_if<std::is_floating_point<typename std::common_type<Arithmetic1, Arithmetic2>::type>::value, bool>::type

               ^

C:\Users\CyberPalin\Documents\Arduino\libraries\AP_Math_freeimu/AP_Math_freeimu.h:37:24: error: expected unqualified-id before '<' token

 typename std::enable_if<std::is_floating_point<typename std::common_type<Arithmetic1, Arithmetic2>::type>::value, bool>::type

                        ^

C:\Users\CyberPalin\Documents\Arduino\libraries\AP_Math_freeimu/AP_Math_freeimu.h: In function 'bool is_zero(T)':

C:\Users\CyberPalin\Documents\Arduino\libraries\AP_Math_freeimu/AP_Math_freeimu.h:45:19: error: 'is_floating_point' is not a member of 'std'

     static_assert(std::is_floating_point<T>::value || std::is_base_of<T,float>::value,

                   ^

C:\Users\CyberPalin\Documents\Arduino\libraries\AP_Math_freeimu/AP_Math_freeimu.h:45:43: error: expected primary-expression before '>' token

     static_assert(std::is_floating_point<T>::value || std::is_base_of<T,float>::value,

                                           ^

C:\Users\CyberPalin\Documents\Arduino\libraries\AP_Math_freeimu/AP_Math_freeimu.h:45:44: error: '::value' has not been declared

     static_assert(std::is_floating_point<T>::value || std::is_base_of<T,float>::value,

                                            ^

C:\Users\CyberPalin\Documents\Arduino\libraries\AP_Math_freeimu/AP_Math_freeimu.h:45:55: error: 'is_base_of' is not a member of 'std'

     static_assert(std::is_floating_point<T>::value || std::is_base_of<T,float>::value,

                                                       ^

C:\Users\CyberPalin\Documents\Arduino\libraries\AP_Math_freeimu/AP_Math_freeimu.h:45:72: error: expected primary-expression before ',' token

     static_assert(std::is_floating_point<T>::value || std::is_base_of<T,float>::value,

                                                                        ^

C:\Users\CyberPalin\Documents\Arduino\libraries\AP_Math_freeimu/AP_Math_freeimu.h:45:73: error: expected string-literal before 'float'

     static_assert(std::is_floating_point<T>::value || std::is_base_of<T,float>::value,

                                                                         ^

C:\Users\CyberPalin\Documents\Arduino\libraries\AP_Math_freeimu/AP_Math_freeimu.h:45:73: error: expected ')' before 'float'

Any help would be appreciated. Getting similar errors for any intel board actually.

Thanks
Mike

2

Merlin513:
I been modifying some code and running into a compile problem for things like enable_if, is_base_of, is_floating_point, etc which are all elements of c++ std library. Believe they are in type_traits. The errors I am getting are as follows:

In file included from C:\Users\CyberPalin\Documents\Arduino\Flyby_Waypoint\Flyby_Waypoint.ino:5:0:

C:\Users\CyberPalin\Documents\Arduino\libraries\AP_Math_freeimu/AP_Math_freeimu.h:33:15: error: 'enable_if' in namespace 'std' does not name a type

typename std::enable_if<std::is_integral<typename std::common_type<Arithmetic1, Arithmetic2>::type>::value ,bool>::type

^

C:\Users\CyberPalin\Documents\Arduino\libraries\AP_Math_freeimu/AP_Math_freeimu.h:33:24: error: expected unqualified-id before '<' token

typename std::enable_if<std::is_integral<typename std::common_type<Arithmetic1, Arithmetic2>::type>::value ,bool>::type

^

C:\Users\CyberPalin\Documents\Arduino\libraries\AP_Math_freeimu/AP_Math_freeimu.h:37:15: error: 'enable_if' in namespace 'std' does not name a type

typename std::enable_if<std::is_floating_point<typename std::common_type<Arithmetic1, Arithmetic2>::type>::value, bool>::type

^

C:\Users\CyberPalin\Documents\Arduino\libraries\AP_Math_freeimu/AP_Math_freeimu.h:37:24: error: expected unqualified-id before '<' token

typename std::enable_if<std::is_floating_point<typename std::common_type<Arithmetic1, Arithmetic2>::type>::value, bool>::type

^

C:\Users\CyberPalin\Documents\Arduino\libraries\AP_Math_freeimu/AP_Math_freeimu.h: In function 'bool is_zero(T)':

C:\Users\CyberPalin\Documents\Arduino\libraries\AP_Math_freeimu/AP_Math_freeimu.h:45:19: error: 'is_floating_point' is not a member of 'std'

static_assert(std::is_floating_point::value || std::is_base_of<T,float>::value,

^

C:\Users\CyberPalin\Documents\Arduino\libraries\AP_Math_freeimu/AP_Math_freeimu.h:45:43: error: expected primary-expression before '>' token

static_assert(std::is_floating_point::value || std::is_base_of<T,float>::value,

^

C:\Users\CyberPalin\Documents\Arduino\libraries\AP_Math_freeimu/AP_Math_freeimu.h:45:44: error: '::value' has not been declared

static_assert(std::is_floating_point::value || std::is_base_of<T,float>::value,

^

C:\Users\CyberPalin\Documents\Arduino\libraries\AP_Math_freeimu/AP_Math_freeimu.h:45:55: error: 'is_base_of' is not a member of 'std'

static_assert(std::is_floating_point::value || std::is_base_of<T,float>::value,

^

C:\Users\CyberPalin\Documents\Arduino\libraries\AP_Math_freeimu/AP_Math_freeimu.h:45:72: error: expected primary-expression before ',' token

static_assert(std::is_floating_point::value || std::is_base_of<T,float>::value,

^

C:\Users\CyberPalin\Documents\Arduino\libraries\AP_Math_freeimu/AP_Math_freeimu.h:45:73: error: expected string-literal before 'float'

static_assert(std::is_floating_point::value || std::is_base_of<T,float>::value,

^

C:\Users\CyberPalin\Documents\Arduino\libraries\AP_Math_freeimu/AP_Math_freeimu.h:45:73: error: expected ')' before 'float'




Any help would be appreciated. Getting similar errors for any intel board actually.

Thanks
Mike

This looks like a syntax errors in the files throwing the errors.
Have you compared the files that you modified?
Have you compared the before modified file with the modified file?
under linux the diff command is used.

AP_Math_freemu.h is clearly a syntax error.

post that file or make it available for us to look at.

3

Just as a note it compiles for Due, Teensy and avr with stlport no problem. Heres the .h file in question:

#pragma once

#if defined(ARDUINO_ARCH_AVR) || defined(ARDUINO_ARCH_SAM) || defined(ARDUINO_ARCH_ESP8266)
#   include <stlport.h>
#   include <type_traits>
#endif
//#include <cmath>
//#include <limits>
#include <stdint.h>
#include <math.h>
#include <Arduino.h>


#include "definitions.h"
//#include "edc.h"
#include "location.h"
#include "matrix3.h"
#include "polygon.h"
//#include "quaternion.h"
#include "rotations.h"
#include "vector2.h"
#include "vector3.h"

// define AP_Param types AP_Vector3f and Ap_Matrix3f
//AP_PARAMDEFV(Vector3f, Vector3f, AP_PARAM_VECTOR3F);

//float FLT_EPSILON =1.0e-6;

/*
 * Check whether two floats are equal
 */
template <typename Arithmetic1, typename Arithmetic2>
typename std::enable_if<std::is_integral<typename std::common_type<Arithmetic1, Arithmetic2>::type>::value ,bool>::type
is_equal(const Arithmetic1 v_1, const Arithmetic2 v_2);

template <typename Arithmetic1, typename Arithmetic2>
typename std::enable_if<std::is_floating_point<typename std::common_type<Arithmetic1, Arithmetic2>::type>::value, bool>::type
is_equal(const Arithmetic1 v_1, const Arithmetic2 v_2);

/* 
 * @brief: Check whether a float is zero
 */
template <typename T>
inline bool is_zero(const T fVal1) {
    static_assert(std::is_floating_point<T>::value || std::is_base_of<T,float>::value,
                  "Template parameter not of type float");
    return (fabsf(static_cast<float>(fVal1)) < 1.0e-6);
}

/* 
 * @brief: Check whether a float is greater than zero
 */
/*template <typename T>
inline bool is_positive(const T fVal1) {
    static_assert(std::is_floating_point<T>::value || std::is_base_of<T,float>::value,
                  "Template parameter not of type float");
    return (static_cast<float>(fVal1) >= FLT_EPSILON);
}
*/

/* 
 * @brief: Check whether a float is less than zero
 */
/*template <typename T>
inline bool is_negative(const T fVal1) {
    static_assert(std::is_floating_point<T>::value || std::is_base_of<T,float>::value,
                  "Template parameter not of type float");
    return (static_cast<float>(fVal1) <= (-1.0 * FLT_EPSILON));
}
*/

/*
 * A variant of asin() that checks the input ranges and ensures a valid angle
 * as output. If nan is given as input then zero is returned.
 */
template <typename T>
float safe_asin(const T v);

/*
 * A variant of sqrt() that checks the input ranges and ensures a valid value
 * as output. If a negative number is given then 0 is returned.  The reasoning
 * is that a negative number for sqrt() in our code is usually caused by small
 * numerical rounding errors, so the real input should have been zero
 */
template <typename T>
float safe_sqrt(const T v);

// invOut is an inverted 4x4 matrix when returns true, otherwise matrix is Singular
bool inverse3x3(float m[], float invOut[]);

// invOut is an inverted 3x3 matrix when returns true, otherwise matrix is Singular
bool inverse4x4(float m[],float invOut[]);

// matrix multiplication of two NxN matrices
float *mat_mul(float *A, float *B, uint8_t n);

// matrix algebra
bool inverse(float x[], float y[], uint16_t dim);

/*
 * Constrain an angle to be within the range: -180 to 180 degrees. The second
 * parameter changes the units. Default: 1 == degrees, 10 == dezi,
 * 100 == centi.
 */
template <typename T>
float wrap_180(const T angle, float unit_mod = 1);

/*
 * Wrap an angle in centi-degrees. See wrap_180().
 */
template <typename T>
auto wrap_180_cd(const T angle) -> decltype(wrap_180(angle, 100.f));

/*
 * Constrain an euler angle to be within the range: 0 to 360 degrees. The
 * second parameter changes the units. Default: 1 == degrees, 10 == dezi,
 * 100 == centi.
 */
template <typename T>
float wrap_360(const T angle, float unit_mod = 1);

/*
 * Wrap an angle in centi-degrees. See wrap_360().
 */
template <typename T>
auto wrap_360_cd(const T angle) -> decltype(wrap_360(angle, 100.f));

/*
  wrap an angle in radians to -PI ~ PI (equivalent to +- 180 degrees)
 */
template <typename T>
float wrap_PI(const T radian);

/*
 * wrap an angle in radians to 0..2PI
 */
template <typename T>
float wrap_2PI(const T radian);

/*
 * Constrain a value to be within the range: low and high
 */
template <typename T>
T constrain_value(const T amt, const T low, const T high);

inline float constrain_float(const float amt, const float low, const float high)
{
    return constrain_value(amt, low, high);
}

inline int16_t constrain_int16(const int16_t amt, const int16_t low, const int16_t high)
{
    return constrain_value(amt, low, high);
}

inline int32_t constrain_int32(const int32_t amt, const int32_t low, const int32_t high)
{
    return constrain_value(amt, low, high);
}

// degrees -> radians
//static inline float radians(float deg)
//{
//    return deg * DEG_TO_RAD;
//}
//
// radians -> degrees
//static inline float degrees(float rad)
//{
//    return rad * RAD_TO_DEG;
//}

//template<typename T>
//float sq(const T val)
//{
//    return powf(static_cast<float>(val), 2);
//}

/*
 * Variadic template for calculating the square norm of a vector of any
 * dimension.
 */
//template<typename T>
//float sq(const T first)
//{
//    return sq(first);
//}

/*
 * Variadic template for calculating the norm (pythagoras) of a vector of any
 * dimension.
 */
template<typename T, typename U>
float norm(const T first, const U second)
{
    return sqrtf(sq(first) + sq(second));
}

template<typename A, typename B>
static inline auto MIN(const A &one, const B &two) -> decltype(one < two ? one : two)
{
    return one < two ? one : two;
}

template<typename A, typename B>
static inline auto MAX(const A &one, const B &two) -> decltype(one > two ? one : two)
{
    return one > two ? one : two;
}

inline uint32_t hz_to_nsec(uint32_t freq)
{
    return AP_NSEC_PER_SEC / freq;
}

inline uint32_t nsec_to_hz(uint32_t nsec)
{
    return AP_NSEC_PER_SEC / nsec;
}

inline uint32_t usec_to_nsec(uint32_t usec)
{
    return usec * AP_NSEC_PER_USEC;
}

inline uint32_t nsec_to_usec(uint32_t nsec)
{
    return nsec / AP_NSEC_PER_USEC;
}

inline uint32_t hz_to_usec(uint32_t freq)
{
    return AP_USEC_PER_SEC / freq;
}

inline uint32_t usec_to_hz(uint32_t usec)
{
    return AP_USEC_PER_SEC / usec;
}

/*
  linear interpolation based on a variable in a range
 */
float linear_interpolate(float low_output, float high_output,
                         float var_value,
                         float var_low, float var_high);

/* simple 16 bit random number generator */
uint16_t get_random16(void);

// generate a random float between -1 and 1, for use in SITL
float rand_float(void);

// generate a random Vector3f of size 1
Vector3f rand_vec3f(void);

// sqrt of sum of squares
float pythagorous2(float a, float b);
float pythagorous3(float a, float b, float c);
double pythagorous2(double a, double b);
double pythagorous3(double a, double b, double c);
4

Merlin513:
Just as a note it compiles for Due, Teensy and avr with stlport no problem. Heres the .h file in question:

#pragma once

#if defined(ARDUINO_ARCH_AVR) || defined(ARDUINO_ARCH_SAM) || defined(ARDUINO_ARCH_ESP8266)
#  include <stlport.h>
#  include <type_traits>
#endif

[/quote]

The answer is right there
Since the Arduino 101 is not an ARDUINO_ARCH_AVR, nor ARDUINO_ARCH_SAM, nor ARDUINO_ARCH_ESP8266
the include files stlport.h and type_traits.sh are never being included.

Since the Arduino 101 Intel Curie is End-Of-Life, I would suggest using a different board.

5

You are right the answer was right in front of me. All that has to be done is change the tests as such:

#if defined(ARDUINO_ARCH_AVR) || defined(ARDUINO_ARCH_SAM) || defined(ARDUINO_ARCH_ESP8266)
#   include <stlport.h>
#   include <type_traits>
#else
#   include <type_traits>
#endif

and it compiles fine. For intel galileo/Edison you actually have to change the compiler flags to c+11.

As for end of life. I still have a curie as well as a whole lot of people so as long as I still have one and it works (I don't really use the Bluetooth) I will keep using it. Edison and Galileo on the hand is already packed away.:slight_smile:

Thanks for your help