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我正在开发用于 CARLA 模拟的虚幻引擎 4。运行时出现未定义符号错误。以下是我的代码：

数据结构.h

    #pragma once

    #include <cstdint>
    #include <vector>

    namespace carla {
    namespace sensor {
    namespace s11n {
        class DataStructure{
            friend class LidarMeasurement;
            public:    
            typedef struct{
              uint8_t distance[2];
              uint8_t reflectivity;      
            }data_point;

            typedef struct{
              uint8_t flag[2];
              uint8_t Azimuth[2];
              std::vector<data_point> points;
            }data_block;

            typedef struct{
              uint8_t UDP[42];
              std::vector<data_block> data;
              uint32_t time_stamp;
              uint16_t factory;
            }data_packet;

            static data_point current_data_point;
            static data_block current_data_block;
            static data_packet current_data_packet;
            static std::vector<data_packet> packets_from_current_frame;
            static uint16_t number_of_packets_this_frame;

            public:
            static void fill_block(float azi, float reflectivity, float distance);
            static void fill_packet();     
        };

    }
    }
    }

数据结构.cpp

#include<stdint.h>
#include "carla/sensor/s11n/DataStructure.h"


namespace carla {
namespace sensor {
namespace s11n {
    DataStructure::data_point DataStructure::current_data_point;
    DataStructure::data_block DataStructure::current_data_block;
    DataStructure::data_packet DataStructure::current_data_packet;
    static uint16_t block_itr = 0;
    static uint16_t packet_itr = 0;
    std::vector<DataStructure::data_packet> DataStructure::packets_from_current_frame;


    void DataStructure::fill_block(float azi, float reflectivity, float distance){
        if(block_itr == 0){
            current_data_block.points.clear();
            current_data_block.flag[0] = 0xFF;
            current_data_block.flag[1] = 0xEE;
            uint16_t azimuth = static_cast<uint16_t>(azi * 100);
            current_data_block.Azimuth[1] = (azimuth & 0xFF00) >> 0x08;
            current_data_block.Azimuth[0] = (azimuth & 0x00FF);
        }
        uint16_t dist = static_cast<uint16_t>((distance * 100)/2); 
        current_data_point.distance[0] = static_cast<uint8_t>(dist % 0x100);
        current_data_point.distance[1] = static_cast<uint8_t>(dist / 0x100);
        current_data_point.reflectivity = static_cast<uint8_t>(reflectivity * 255);
        current_data_block.points.push_back(current_data_point);
        block_itr ++;
        if(block_itr == 32){
            DataStructure::fill_packet();
            block_itr = 0;
        }
    }

    void DataStructure::fill_packet(){
        if(packet_itr == 0){
            current_data_packet.data.clear();
            current_data_packet.factory = 0x2222;
        }
        current_data_packet.data.push_back(current_data_block);
        packet_itr ++;
        if(packet_itr == 12){
            packet_itr = 0;
            packets_from_current_frame.push_back(current_data_packet);
        }
    }
}
}
}

错误信息：

/home/carla_static/UnrealEngine_4.22/Engine/Binaries/Linux/UE4Editor: symbol lookup error: /home/carla_static/carla/Unreal/CarlaUE4/Plugins/Carla/Binaries/Linux/libUE4Editor-Carla.so: undefined symbol: _ZN5carla6sensor4s11n13DataStructure10fill_blockEfff

当我尝试在课堂上使用 fill_block 函数时会弹出此错误LidarMeasurement。

也可以在没有cpp的情况下完成代码吗？如果可能，如何声明和定义静态变量？

我执行了以下步骤：

  • 添加了 .cpp 和 .h 文件（没有错误make Libcarla.Client.Debug）
  • 添加文件后，我删除了二进制文件并make rebuild构建了所有模块
  • 启动 UE4 (make launch) 并运行 python 客户端

我正在使用 - Ubuntu：18.04 - Carla 0.9.6 - UE 4.22

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