Question

首先是一些背景信息。

我目前正在尝试编写一个可以解析文件并从中生成树结构的c ++类，我将可以将其用于反向运动学。为此，我使用了一些能够包含我需要的功能的ROS库，即urdf和kdl。

我已按照此处的说明设法将图书馆链接到构建系统https://wiki.unrealengine.com/Linking_Static_Libraries_Using_The_Build_System

我的类现在可以识别我想要使用的结构，并成功编译，但不幸的是，当我试图阻止它运行时，Unreal会崩溃，

下面的代码来自我的c ++文件，问题似乎是围绕我的urdf模型的垃圾收集，因为它设法成功解析文件只是在停止时崩溃。

    #include "AIKTester.h"
    #include "Runtime/Core/Public/Misc/Paths.h"
    #include "Runtime/Core/Public/HAL/FileManager.h"
    #include <string>

    // Sets default values
    AAIKTester::AAIKTester()
    {
        // Set this actor to call Tick() every frame.  You can turn this off to improve performance if you don't need it.
        PrimaryActorTick.bCanEverTick = true;

    }

    // Called when the game starts or when spawned
    void AAIKTester::BeginPlay()
    {
        Super::BeginPlay();
        urdfParser();
    }

    // Called every frame
    void AAIKTester::Tick(float DeltaTime)
    {
        Super::Tick(DeltaTime);

    }

    bool AAIKTester::urdfParser()
    {
        // Grab relative project path for file system and convert to string
        FString RelativeProjPath = FPaths::ProjectDir();
        std::string ProjPath(TCHAR_TO_UTF8(*RelativeProjPath));

        // Try parse urdf file into model using relative project path and urdf file location
        if (!my_model.initFile(ProjPath + "Source/Project/robot.urdf")) {
            UE_LOG(LogTemp, Log, TEXT("Failed to parse urdf file"));
            return false;
        }
        else {
            UE_LOG(LogTemp, Log, TEXT("Parsed the urdf file"));
            return true;
        }
    }

这是包含的头文件：

#pragma once

#include "CoreMinimal.h"
#include "GameFramework/Actor.h"
#include "../../ThirdParty/ROS2/Includes/urdf/model.h"
#include "../../ThirdParty/ROS2/Includes/kdl/tree.hpp"
#include "../../ThirdParty/ROS2/Includes/kdl_parser/kdl_parser.hpp"
#include "AIKTester.generated.h"


UCLASS()
class PROJECT_API AAIKTester : public AActor
{
    GENERATED_BODY()

public: 
    // Sets default values for this actor's properties
    AAIKTester();

protected:
    // Called when the game starts or when spawned
    virtual void BeginPlay() override;

public: 
    // Called every frame
    virtual void Tick(float DeltaTime) override;

    urdf::Model my_model;
    bool urdfParser();
};

我试图绕过调用堆栈，但遗憾的是我无法清楚地知道如何解决这个问题。错误代码和调用堆栈似乎每隔一次运行它，最近显示：

UE4Editor.exe中的0x00007FF80FEE731E（nvwgf2umx.dll）抛出异常：0xC0000005：访问冲突读取位置0xFFFFFFFFFFFFFFFF。

非常感谢任何帮助，谢谢。

虚幻引擎访问冲突使用第三方库代码崩溃

0 个答案: