swarm-iitkgp / swarm_coverage Goto Github PK

Hello I am trying to run this on indigo , ubuntu 14.04. I get this error while compiling. and solution please?

[ 75%] Built target moveit_kinematics_plugin_loader
[ 75%] Built target moveit_constraint_sampler_manager_loader
[ 76%] Built target moveit_planning_pipeline
/home/maverick/indigo_ws/src/coverage/src/voronoi_main.cpp: In function ‘void createEnv(swarm_simulator::obstacleList)’:
/home/maverick/indigo_ws/src/coverage/src/voronoi_main.cpp:29:32: error: no matching function for call to ‘Coverage::GetBestPositions(std::vectorcv::Point_&)’
obj.GetBestPositions(locations);
^
/home/maverick/indigo_ws/src/coverage/src/voronoi_main.cpp:29:32: note: candidate is:
In file included from /home/maverick/indigo_ws/src/coverage/src/voronoi_main.cpp:7:0:
/home/maverick/indigo_ws/src/coverage/include/Coverage.h:36:7: note: void Coverage::GetBestPositions(int)
void GetBestPositions(vector& positions);
^
/home/maverick/indigo_ws/src/coverage/include/Coverage.h:36:7: note: no known conversion for argument 1 from ‘std::vectorcv::Point_’ to ‘int’
[ 76%] [ 76%] Built target moveit_depth_image_octomap_updater

The best point may lie on an obstacle according to current code. This needs to be addressed by moving it to nearest obstacle-free optimal point.