Installation error

[steb6]

root@DESKTOP-PBHGK8J:/home/ergocub/perception/build# make
Scanning dependencies of target command_prompt
[ 7%] Building CXX object CMakeFiles/command_prompt.dir/src/CommandPrompt.cpp.o
[ 14%] Building CXX object CMakeFiles/command_prompt.dir/src/ControlInterface.cpp.o
[ 21%] Building CXX object CMakeFiles/command_prompt.dir/src/Utilities.cpp.o
[ 28%] Linking CXX executable command_prompt
[ 28%] Built target command_prompt
Scanning dependencies of target command_server
[ 35%] Building CXX object CMakeFiles/command_server.dir/src/BimanualControl.cpp.o
In file included from /home/ergocub/perception/include/BimanualControl.h:20,
from /home/ergocub/perception/src/BimanualControl.cpp:1:
/home/ergocub/perception/include/QPSolver.h:38:10: error: 'Vector' does not name a type
38 | static Vector<DataType,Dynamic>
| ^~~~~~
/home/ergocub/perception/include/QPSolver.h:50:10: error: 'Vector' does not name a type
50 | static Vector<DataType,Dynamic>
| ^~~~~~
/home/ergocub/perception/include/QPSolver.h:66:10: error: 'Vector' does not name a type
66 | static Vector<DataType,Dynamic>
| ^~~~~~
/home/ergocub/perception/include/QPSolver.h:85:3: error: 'Vector' does not name a type
85 | Vector<DataType,Dynamic>
| ^~~~~~
/home/ergocub/perception/include/QPSolver.h:108:3: error: 'Vector' does not name a type
108 | Vector<DataType,Dynamic>
| ^~~~~~
/home/ergocub/perception/include/QPSolver.h:132:3: error: 'Vector' does not name a type
132 | Vector<DataType,Dynamic>
| ^~~~~~
/home/ergocub/perception/include/QPSolver.h:154:3: error: 'Vector' does not name a type
154 | Vector<DataType,Dynamic>
| ^~~~~~
/home/ergocub/perception/include/QPSolver.h:205:3: error: 'Vector' does not name a type
205 | Vector<DataType, Dynamic> last_solution() const { return this->lastSolution; }
| ^~~~~~
/home/ergocub/perception/include/QPSolver.h:235:3: error: 'Vector' does not name a type
235 | Vector<DataType,Dynamic> lastSolution; ///< Final solution returned by interior point algorithm. Can be used as a starting point for future calls to the method.
| ^~~~~~
/home/ergocub/perception/include/QPSolver.h:253:1: error: 'Vector' does not name a type
253 | Vector<DataType,Dynamic>
| ^~~~~~
/home/ergocub/perception/include/QPSolver.h:277:1: error: 'Vector' does not name a type
277 | Vector<DataType,Dynamic>
| ^~~~~~
/home/ergocub/perception/include/QPSolver.h:310:1: error: 'Vector' does not name a type
310 | Vector<DataType,Dynamic>
| ^~~~~~
/home/ergocub/perception/include/QPSolver.h:356:1: error: 'Vector' does not name a type
356 | Vector<DataType,Dynamic>
| ^~~~~~
/home/ergocub/perception/include/QPSolver.h:413:1: error: 'Vector' does not name a type
413 | Vector<DataType,Dynamic>
| ^~~~~~
/home/ergocub/perception/include/QPSolver.h:452:1: error: 'Vector' does not name a type
452 | Vector<DataType,Dynamic>
| ^~~~~~
/home/ergocub/perception/include/QPSolver.h:572:1: error: 'Vector' does not name a type
572 | Vector<DataType,Dynamic>
| ^~~~~~
In file included from /home/ergocub/perception/src/BimanualControl.cpp:1:
/home/ergocub/perception/include/BimanualControl.h:254:10: error: 'Vector' in namespace 'Eigen' does not name a template type; did you mean 'VectorXd'?
254 | Eigen::Vector<double,6> objectPoseError; ///< For assessing performance
| ^~~~~~
| VectorXd
/home/ergocub/perception/src/BimanualControl.cpp: In member function 'bool BimanualControl::move_object(const std::vector<Eigen::Transform<double, 3, 1> >&, const std::vector&)':
/home/ergocub/perception/src/BimanualControl.cpp:424:9: error: 'Vector' is not a member of 'Eigen'; did you mean 'VectorXd'?
424 | Eigen::Vector<double,6> leftHandTwist = iDynTree::toEigen(this->computer.getFrameVel("left"));
| ^~~~~~
| VectorXd
/home/ergocub/perception/src/BimanualControl.cpp:424:16: error: expected primary-expression before 'double'
424 | Eigen::Vector<double,6> leftHandTwist = iDynTree::toEigen(this->computer.getFrameVel("left"));
| ^~~~~~
/home/ergocub/perception/src/BimanualControl.cpp:425:31: error: 'leftHandTwist' was not declared in this scope
425 | Eigen::Vector3d angularVel = leftHandTwist.tail(3);
| ^~~~~~~~~~~~~
/home/ergocub/perception/src/BimanualControl.cpp:427:9: error: 'Vector' is not a member of 'Eigen'; did you mean 'VectorXd'?
427 | Eigen::Vector<double,6> objectTwist;
| ^~~~~~
| VectorXd
/home/ergocub/perception/src/BimanualControl.cpp:427:16: error: expected primary-expression before 'double'
427 | Eigen::Vector<double,6> objectTwist;
| ^~~~~~
/home/ergocub/perception/src/BimanualControl.cpp:428:2: error: 'objectTwist' was not declared in this scope
428 | objectTwist.head(3) = leftHandTwist.head(3) + angularVel.cross(this->objectPose.translation() - this->leftPose.translation());
| ^~~~~~~~~~~
/home/ergocub/perception/src/BimanualControl.cpp: In member function 'virtual void BimanualControl::run()':
/home/ergocub/perception/src/BimanualControl.cpp:627:11: error: 'Vector' is not a member of 'Eigen'; did you mean 'VectorXd'?
627 | Eigen::Vector<double,12> xdot; xdot.setZero();
| ^~~~~~
| VectorXd
/home/ergocub/perception/src/BimanualControl.cpp:627:18: error: expected primary-expression before 'double'
627 | Eigen::Vector<double,12> xdot; xdot.setZero();
| ^~~~~~
/home/ergocub/perception/src/BimanualControl.cpp:627:35: error: 'xdot' was not declared in this scope; did you mean 'qdot'?
627 | Eigen::Vector<double,12> xdot; xdot.setZero();
| ^~~~
| qdot
/home/ergocub/perception/src/BimanualControl.cpp:629:11: error: 'Vector' is not a member of 'Eigen'; did you mean 'VectorXd'?
629 | Eigen::Vector<double,6> vel, acc;
| ^~~~~~
| VectorXd
/home/ergocub/perception/src/BimanualControl.cpp:629:18: error: expected primary-expression before 'double'
629 | Eigen::Vector<double,6> vel, acc;
| ^~~~~~
/home/ergocub/perception/src/BimanualControl.cpp:633:43: error: 'vel' was not declared in this scope
633 | this->objectTrajectory.get_state(pose,vel,acc,elapsedTime); // Get the desired object state for the given time
| ^~~
/home/ergocub/perception/src/BimanualControl.cpp:633:47: error: 'acc' was not declared in this scope
633 | this->objectTrajectory.get_state(pose,vel,acc,elapsedTime); // Get the desired object state for the given time
| ^~~
/home/ergocub/perception/src/BimanualControl.cpp:635:11: error: 'class BimanualControl' has no member named 'objectPoseError'; did you mean 'objectPose'?
635 | this->objectPoseError = pose_error(pose,this->objectPose); // Save this so we can publish it later
| ^~~~~~~~~~~~~~~
| objectPose
/home/ergocub/perception/src/BimanualControl.cpp:637:53: error: 'class BimanualControl' has no member named 'objectPoseError'; did you mean 'objectPose'?
637 | xdot = this->G.transpose()(vel + this->Kthis->objectPoseError);
| ^~~~~~~~~~~~~~~
| objectPose
/home/ergocub/perception/src/BimanualControl.cpp:642:41: error: 'vel' was not declared in this scope
642 | this->leftTrajectory.get_state(pose,vel,acc,elapsedTime); // Desired state for the left hand
| ^~~
/home/ergocub/perception/src/BimanualControl.cpp:642:45: error: 'acc' was not declared in this scope
642 | this->leftTrajectory.get_state(pose,vel,acc,elapsedTime); // Desired state for the left hand
| ^~~
/home/ergocub/perception/src/BimanualControl.cpp:717:43: error: 'last_solution' is not a member of 'QPSolver'
717 | Eigen::VectorXd startPoint = QPSolver::last_solution();
| ^~~~~~~~~~~~~
/home/ergocub/perception/src/BimanualControl.cpp:722:22: error: 'constrained_least_squares' is not a member of 'QPSolver'
722 | qdot = QPSolver::constrained_least_squares(redundantTask, this->M, this->J, xdot, B, z, startPoint);
| ^~~~~~~~~~~~~~~~~~~~~~~~~
/home/ergocub/perception/src/BimanualControl.cpp:736:23: error: 'constrained_least_squares' is not a member of 'QPSolver'
736 | qdot = QPSolver::constrained_least_squares(qdot, this->M, Jc, Eigen::VectorXd::Zero(6), B, z, qdot);
| ^~~~~~~~~~~~~~~~~~~~~~~~~
/home/ergocub/perception/src/BimanualControl.cpp:802:11: error: 'Vector' is not a member of 'Eigen'; did you mean 'VectorXd'?
802 | Eigen::Vector<double,6> temp = pose_error(this->leftPose, this->rightPose); // Get the pose error between the hands
| ^~~~~~
| VectorXd
/home/ergocub/perception/src/BimanualControl.cpp:802:18: error: expected primary-expression before 'double'
802 | Eigen::Vector<double,6> temp = pose_error(this->leftPose, this->rightPose); // Get the pose error between the hands
| ^~~~~~
/home/ergocub/perception/src/BimanualControl.cpp:803:29: error: 'temp' was not declared in this scope
803 | constraintData.push_back(temp.head(3).norm()*1000); // Position error in mm
| ^~~~
/home/ergocub/perception/src/BimanualControl.cpp:810:36: error: 'class BimanualControl' has no member named 'objectPoseError'; did you mean 'objectPose'?
810 | objectErrorData.push_back(this->objectPoseError.head(3).norm()*1000);
| ^~~~~~~~~~~~~~~
| objectPose
/home/ergocub/perception/src/BimanualControl.cpp:811:36: error: 'class BimanualControl' has no member named 'objectPoseError'; did you mean 'objectPose'?
811 | objectErrorData.push_back(this->objectPoseError.tail(3).norm()*180/3.141592);
| ^~~~~~~~~~~~~~~
| objectPose
In file included from /home/ergocub/perception/include/BimanualControl.h:20,
from /home/ergocub/perception/src/BimanualControl.cpp:1:
/home/ergocub/perception/include/QPSolver.h: In instantiation of 'void QPSolver::clear_last_solution() [with DataType = double]':
/home/ergocub/perception/src/BimanualControl.cpp:593:13: required from here
/home/ergocub/perception/include/QPSolver.h:210:38: error: 'class QPSolver' has no member named 'lastSolution'
210 | void clear_last_solution() { this->lastSolution.resize(0); }
| ~~~~~~^~~~~~~~~~~~
make[2]: *** [CMakeFiles/command_server.dir/build.make:63: CMakeFiles/command_server.dir/src/BimanualControl.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:146: CMakeFiles/command_server.dir/all] Error 2
make: *** [Makefile:130: all] Error 2