Hi,

I am using KDL successfully for solving inverse kinematics on a virtual 3D skeleton.

However when I first tried to compiled the library I got this error:

include/kdl/utilities/utility.h:180:21: error: expected unqualified-id before numeric constant

This corresponds to:

//! the value of pi
extern const double PI;

After some headaches I discovered that I had some other library that was doing this:

#define PI 3.141592

Outside its namespace.

The code compiles and runs when I comment or change the name of any of the two definitions but when they both define PI then I get the above error.

The question is shouldn't orocos kdl compile regardless of the other definition?

Cheers, Garoe