所以我有这个意大利面条代码项目，我试图使面向对象。 Pittily我遇到了一些我不太了解的错误，所以我尝试创建简单的代码，它会抛出相同的错误而且没有。
所以这里有一些编译的简约代码：
（文件名为＆＃34; ims.cpp＆＃34;）
#include <cstdio>
#include <ros/ros.h>
#include <visualization_msgs/Marker.h>
#include <visualization_msgs/InteractiveMarker.h>
#include <interactive_markers/interactive_marker_server.h>
#include <interactive_markers/menu_handler.h>
#include <rosbag/bag.h>
#include <rosbag/view.h>
#include <ros/param.h>
#include <fstream>
#include <cmath>
#include <boost/algorithm/string/split.hpp>
#include <boost/algorithm/string.hpp>
using namespace visualization_msgs;
using namespace geometry_msgs;
using namespace std;
using namespace boost;
boost::shared_ptr<interactive_markers::InteractiveMarkerServer> server;
void doNothing(const InteractiveMarkerFeedbackConstPtr &feedback){
}
void testServer(){
InteractiveMarker inter_marker;
inter_marker.header.frame_id = 1;
Point pos;
pos.x = 3;
pos.y = 3;
inter_marker.pose.position = pos;
inter_marker.scale = 2;
inter_marker.name = "testServer";
server->insert(inter_marker, &doNothing);
}
int main(){}
Explenation：这是一个ROS（机器人操作系统）项目，我仍然相信这是一个普遍的c ++问题所以我没有在他们的＆＃34; ros :: answers＆＃34;中提出这个问题。论坛。请不要对类型感到困惑，我们会遇到问题。
功能＆＃34; interactive_markers :: InteractiveMarkerServer.insert＆＃34;需要一个＆＃34; visualization_msgs :: InteractiveMarker＆amp;＆＃34;和一个参数类型为＆＃34; InteractiveMarkerFeedbackConstPtr＆amp;＆＃34;的函数，如提供的那样。 见：http://docs.ros.org/jade/api/interactive_markers /html/classinteractive__markers_1_1InteractiveMarkerServer.html
因此，抛出我的错误的最小代码将是一个在＆＃34; doNothing＆＃34;中没有所需参数的代码。功能，像这样：
（文件名为＆＃34; ims.cpp＆＃34;）
#include <as above>
using namespace visualization_msgs;
using namespace geometry_msgs;
using namespace std;
using namespace boost;
boost::shared_ptr<interactive_markers::InteractiveMarkerServer> server;
void doNothing(){
}
void testServer(){
InteractiveMarker inter_marker;
inter_marker.header.frame_id = 1;
Point pos;
pos.x = 3;
pos.y = 3;
inter_marker.pose.position = pos;
inter_marker.scale = 2;
inter_marker.name = "testServer";
server->insert(inter_marker, &doNothing);
}
int main(){}
抛出错误：
In file included from /usr/include/boost/function/detail/maybe_include.hpp:18:0,
from /usr/include/boost/function/detail/function_iterate.hpp:14,
from /usr/include/boost/preprocessor/iteration/detail/iter/forward1.hpp:52,
from /usr/include/boost/function.hpp:64,
from /opt/ros/indigo/include/ros/forwards.h:40,
from /opt/ros/indigo/include/ros/common.h:37,
from /opt/ros/indigo/include/ros/ros.h:43,
from /home/ros/ros/src/robotrainer_editor/heika_beta/ims/src/ims.cpp:3:
/usr/include/boost/function/function_template.hpp: In instantiation of ‘static void boost::detail::function::void_function_invoker1<FunctionPtr, R, T0>::invoke(boost::detail::function::function_buffer&, T0) [with FunctionPtr = void (*)(); R = void; T0 = const boost::shared_ptr<const visualization_msgs::InteractiveMarkerFeedback_<std::allocator<void> > >&]’:
/usr/include/boost/function/function_template.hpp:934:38: required from ‘void boost::function1<R, T1>::assign_to(Functor) [with Functor = void (*)(); R = void; T0 = const boost::shared_ptr<const visualization_msgs::InteractiveMarkerFeedback_<std::allocator<void> > >&]’
/usr/include/boost/function/function_template.hpp:722:7: required from ‘boost::function1<R, T1>::function1(Functor, typename boost::enable_if_c<boost::type_traits::ice_not<boost::is_integral<Functor>::value>::value, int>::type) [with Functor = void (*)(); R = void; T0 = const boost::shared_ptr<const visualization_msgs::InteractiveMarkerFeedback_<std::allocator<void> > >&; typename boost::enable_if_c<boost::type_traits::ice_not<boost::is_integral<Functor>::value>::value, int>::type = int]’
/usr/include/boost/function/function_template.hpp:1069:16: required from ‘boost::function<R(T0)>::function(Functor, typename boost::enable_if_c<boost::type_traits::ice_not<boost::is_integral<Functor>::value>::value, int>::type) [with Functor = void (*)(); R = void; T0 = const boost::shared_ptr<const visualization_msgs::InteractiveMarkerFeedback_<std::allocator<void> > >&; typename boost::enable_if_c<boost::type_traits::ice_not<boost::is_integral<Functor>::value>::value, int>::type = int]’
/home/ros/ros/src/robotrainer_editor/heika_beta/ims/src/ims.cpp:40:42: required from here
/usr/include/boost/function/function_template.hpp:112:11: error: too many arguments to function
BOOST_FUNCTION_RETURN(f(BOOST_FUNCTION_ARGS));
哪个有道理，对吧？该函数没有所需的参数，因此编译器会抱怨。
现在我们在面向对象的代码中遇到了真正的问题：，我遇到了同样的问题：
HEADER FILE
（文件名为＆＃34; ims.h＆＃34;）
#include <cstdio>
#include <ros/ros.h>
#include <visualization_msgs/Marker.h>
#include <visualization_msgs/InteractiveMarker.h>
#include <interactive_markers/interactive_marker_server.h>
#include <interactive_markers/menu_handler.h>
#include <rosbag/bag.h>
#include <rosbag/view.h>
#include <ros/param.h>
#include <fstream>
#include <cmath>
#include <boost/algorithm/string/split.hpp>
#include <boost/algorithm/string.hpp>
using namespace visualization_msgs;
using namespace geometry_msgs;
using namespace std;
using namespace boost;
class IMS{
boost::shared_ptr<interactive_markers::InteractiveMarkerServer> server;
IMS();
void doNothing(const InteractiveMarkerFeedbackConstPtr &feedback);
void testServer();
int main();
};
CPP声明
（文件名为＆＃34; ims.cpp＆＃34;）
#include <ims.h>
IMS::IMS(){}
void IMS::doNothing(const InteractiveMarkerFeedbackConstPtr &feedback){
}
void IMS::testServer(){
InteractiveMarker inter_marker;
inter_marker.header.frame_id = 1;
Point pos;
pos.x = 3;
pos.y = 3;
inter_marker.pose.position = pos;
inter_marker.scale = 2;
inter_marker.name = "testServer";
server->insert(inter_marker, &IMS::doNothing); //other options that didn't work either: doNothing);//*this->doNothing(const InteractiveMarkerFeedbackConstPtr &feedback));//*this->doNothing());//this->doNothing);//&this->doNothing);//&IMS::doNothing);//&doNothing);
}
int IMS::main(){}
抛出错误：
In file included from /usr/include/boost/function/detail/maybe_include.hpp:18:0,
from /usr/include/boost/function/detail/function_iterate.hpp:14,
from /usr/include/boost/preprocessor/iteration/detail/iter/forward1.hpp:52,
from /usr/include/boost/function.hpp:64,
from /opt/ros/indigo/include/ros/forwards.h:40,
from /opt/ros/indigo/include/ros/common.h:37,
from /opt/ros/indigo/include/ros/ros.h:43,
from /home/ros/ros/src/robotrainer_editor/heika_beta/ims/include/ims.h:3,
from /home/ros/ros/src/robotrainer_editor/heika_beta/ims/src/ims.cpp:1:
/usr/include/boost/function/function_template.hpp: In instantiation of ‘static void boost::detail::function::function_void_mem_invoker1<MemberPtr, R, T0>::invoke(boost::detail::function::function_buffer&, T0) [with MemberPtr = void (IMS::*)(const boost::shared_ptr<const visualization_msgs::InteractiveMarkerFeedback_<std::allocator<void> > >&); R = void; T0 = const boost::shared_ptr<const visualization_msgs::InteractiveMarkerFeedback_<std::allocator<void> > >&]’:
/usr/include/boost/function/function_template.hpp:934:38: required from ‘void boost::function1<R, T1>::assign_to(Functor) [with Functor = void (IMS::*)(const boost::shared_ptr<const visualization_msgs::InteractiveMarkerFeedback_<std::allocator<void> > >&); R = void; T0 = const boost::shared_ptr<const visualization_msgs::InteractiveMarkerFeedback_<std::allocator<void> > >&]’
/usr/include/boost/function/function_template.hpp:722:7: required from ‘boost::function1<R, T1>::function1(Functor, typename boost::enable_if_c<boost::type_traits::ice_not<boost::is_integral<Functor>::value>::value, int>::type) [with Functor = void (IMS::*)(const boost::shared_ptr<const visualization_msgs::InteractiveMarkerFeedback_<std::allocator<void> > >&); R = void; T0 = const boost::shared_ptr<const visualization_msgs::InteractiveMarkerFeedback_<std::allocator<void> > >&; typename boost::enable_if_c<boost::type_traits::ice_not<boost::is_integral<Functor>::value>::value, int>::type = int]’
/usr/include/boost/function/function_template.hpp:1069:16: required from ‘boost::function<R(T0)>::function(Functor, typename boost::enable_if_c<boost::type_traits::ice_not<boost::is_integral<Functor>::value>::value, int>::type) [with Functor = void (IMS::*)(const boost::shared_ptr<const visualization_msgs::InteractiveMarkerFeedback_<std::allocator<void> > >&); R = void; T0 = const boost::shared_ptr<const visualization_msgs::InteractiveMarkerFeedback_<std::allocator<void> > >&; typename boost::enable_if_c<boost::type_traits::ice_not<boost::is_integral<Functor>::value>::value, int>::type = int]’
/home/ros/ros/src/robotrainer_editor/heika_beta/ims/src/ims.cpp:19:47: required from here
/usr/include/boost/function/function_template.hpp:225:11: error: no match for call to ‘(boost::_mfi::mf1<void, IMS, const boost::shared_ptr<const visualization_msgs::InteractiveMarkerFeedback_<std::allocator<void> > >&>) (const boost::shared_ptr<const visualization_msgs::InteractiveMarkerFeedback_<std::allocator<void> > >&)’
BOOST_FUNCTION_RETURN(boost::mem_fn(*f)(BOOST_FUNCTION_ARGS));
诊断：
我的一位朋友实际上已经诊断出问题的合理来源：显然编译器会将代码重新格式化为此
void IMS::doNothing(IMS this, const InteractiveMarkerFeedbackConstPtr &feedback){
当然会导致错误，因为参数不再符合我们的预期。
所以这是我的要求：
这种诊断是否正确？
如果是的话：它可以是变通方法吗？
否则：实际问题是什么？
感谢所有甚至完全阅读这篇长篇帖子的人，并提前感谢您的答案！
解决方案（遵循＆＃34; einpoklum＆＃34的建议;）
对我的概念最合适的解决方案是一个lambda，创建一个功能来包装恶意＆＃34;这个＆＃34;参数。
std :: function nothing = [this]（const InteractiveMarkerFeedbackConstPtr＆amp; feedback）{this-＆gt; doNothing（feedback）;};
server-＆gt; insert（inter_marker，nothing）;
非常感谢那些非常厌烦阅读整个帖子的人，对不起，我很难理解这个问题。
答案 0 :(得分：-1)
尝试切入大量文本并冒险回答：我想（但不确定）问题是你试图将（非静态）成员函数传递为虽然这是一个独立的功能。
这不应该起作用，因为你无法调用成员函数＆＃34;就像那样＆＃34; - 它必须有一个相关的对象。在实现级别上，需要使用类的实例的地址调用该段代码作为this对象。
在这些情况下你可以做的是：
std::mem_fn包裹您的成员函数以获得正确的函数，并使用额外的第一个参数作为实例，或static - 如果它实际上并未使用任何特定于实例的数据。