引用作为类成员的函数

所以我有这个意大利面条代码项目，我正在尝试使它面向对象。可怜的是，我遇到了我不太理解的错误，所以我尝试创建简单的代码，这些代码确实会抛出相同的错误，而事实并非如此。

所以这里有一些编译的简约代码：

(文件名为"ims.cpp"(

#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(){}

解释：这是一个ROS(机器人操作系统(项目，我仍然相信这是一个一般的C ++问题，所以我没有在他们的"ros：：answers"论坛中提出这个问题。请不要被类型混淆，我们会解决问题。

函数"interactive_markers：：InteractiveMarkerServer.insert"需要一个"visualization_msgs：：InteractiveMarker &"和一个参数类型为"InteractiveMarkerFeedbackConstPtr &"的函数。 请参阅： 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"doNothing"函数中根本没有所需参数的代码，如下所示：

(文件名为"ims.cpp"(

#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));

这是有道理的，对吧？该函数没有所需的参数，因此编译器会抱怨。

所以现在我们到了真正的问题：在面向对象的代码中，我有同样的问题：

头文件

(文件名为"ims.h"(

#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"ims.cpp"(

#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：

我的一个朋友实际上已经诊断出问题的合理来源：编译器将代码重新格式化为这个

void IMS::doNothing(IMS this, const InteractiveMarkerFeedbackConstPtr &feedback){

这当然会导致错误，因为该参数不再符合我们的期望。

所以我的要求是：

这个诊断正确吗？

如果是：是否可以解决方法以及如何解决方法？

否则：实际问题是什么？

感谢任何甚至完全阅读这个长线程的人，并提前感谢您的回答！

解决方案(遵循"einpoklum"的建议(

最适合我的概念的解决方案是lambda，创建一个函数来包装恶意的"this"参数。

标准：：函数无 = [这](const InteractiveMarkerFeedbackConstPtr &feedback({this->doNothing(feedback(;};

服务器>插入(inter_marker，什么都没有(;

谢谢你和所有非常费心阅读整个线程的人，很抱歉我很难理解地提出这个问题。