In file included from /usr/include/boost/variant.hpp:17,
                 from /home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-collection.hpp:11,
                 from /home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-generic.hpp:8,
                 from /home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/model.hpp:17,
                 from /home/apollo/Laas/pinocchio/build/include/pinocchio/algorithm/model.hpp:8,
                 from /home/apollo/Laas/pinocchio/bindings/python/algorithm/expose-model.cpp:8:
/usr/include/boost/variant/variant.hpp: In instantiation of ‘void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::internal_visit(RhsT&, int) [with RhsT = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’:
/usr/include/boost/variant/detail/visitation_impl.hpp:130:9:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl_invoke_impl(int, Visitor&, VoidPtrCV, T*, mpl_::true_) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T = pinocchio::JointDataRevoluteTpl<double, 0, 0>; typename Visitor::result_type = void; mpl_::true_ = mpl_::bool_<true>]’
/usr/include/boost/variant/detail/visitation_impl.hpp:170:41:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl_invoke(int, Visitor&, VoidPtrCV, T*, NoBackupFlag, int) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T = pinocchio::JointDataRevoluteTpl<double, 0, 0>; NoBackupFlag = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_; typename Visitor::result_type = void]’
/usr/include/boost/variant/detail/visitation_impl.hpp:256:5:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl(int, int, Visitor&, VoidPtrCV, mpl_::false_, NoBackupFlag, Which*, step0*) [with Which = mpl_::int_<0>; step0 = boost::detail::variant::visitation_impl_step<boost::mpl::l_iter<boost::mpl::l_item<mpl_::long_<21>, pinocchio::JointDataRevoluteTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<20>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<19>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<18>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, boost::mpl::l_item<mpl_::long_<17>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, boost::mpl::l_item<mpl_::long_<16>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, boost::mpl::l_item<mpl_::long_<15>, pinocchio::JointDataFreeFlyerTpl<double>, boost::mpl::l_item<mpl_::long_<14>, pinocchio::JointDataPlanarTpl<double>, boost::mpl::l_item<mpl_::long_<13>, pinocchio::JointDataRevoluteUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<12>, pinocchio::JointDataSphericalTpl<double>, boost::mpl::l_item<mpl_::long_<11>, pinocchio::JointDataSphericalZYXTpl<double>, boost::mpl::l_item<mpl_::long_<10>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<9>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<8>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<7>, pinocchio::JointDataPrismaticUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<6>, pinocchio::JointDataTranslationTpl<double>, boost::mpl::l_item<mpl_::long_<5>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<4>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<3>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<1>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::mpl::l_end> > > > > > > > > > > > > > > > > > > > > >, boost::mpl::l_iter<boost::mpl::l_end> >; Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; NoBackupFlag = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_; typename Visitor::result_type = void; mpl_::false_ = mpl_::bool_<false>]’
/usr/include/boost/variant/variant.hpp:2321:48:   required from ‘static typename Visitor::result_type boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::internal_apply_visitor_impl(int, int, Visitor&, VoidPtrCV) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_; typename Visitor::result_type = void]’
/usr/include/boost/variant/variant.hpp:2335:43:   required from ‘typename Visitor::result_type boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::internal_apply_visitor(Visitor&) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_; typename Visitor::result_type = void]’
/usr/include/boost/variant/variant.hpp:2109:13:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-basic-visitors.hxx:31:34:   required from ‘static pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointDataVariant pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::run(const JointModelVariant&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointDataVariant = pinocchio::JointDataTpl<double>; pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointModelVariant = boost::variant<pinocchio::JointModelRevoluteTpl<double, 0, 0>, pinocchio::JointModelRevoluteTpl<double, 0, 1>, pinocchio::JointModelRevoluteTpl<double, 0, 2>, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 0> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 1> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 2> >, pinocchio::JointModelFreeFlyerTpl<double>, pinocchio::JointModelPlanarTpl<double>, pinocchio::JointModelRevoluteUnalignedTpl<double>, pinocchio::JointModelSphericalTpl<double>, pinocchio::JointModelSphericalZYXTpl<double>, pinocchio::JointModelPrismaticTpl<double, 0, 0>, pinocchio::JointModelPrismaticTpl<double, 0, 1>, pinocchio::JointModelPrismaticTpl<double, 0, 2>, pinocchio::JointModelPrismaticUnalignedTpl<double>, pinocchio::JointModelTranslationTpl<double>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointModelRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointModelCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-basic-visitors.hxx:38:67:   required from ‘pinocchio::JointDataTpl<Scalar, Options, JointCollectionTpl> pinocchio::createData(const pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-generic.hpp:202:72:   required from ‘pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::JointDataDerived pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::createData() const [with _Scalar = double; int _Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::JointDataDerived = pinocchio::JointDataTpl<double>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/algorithm/model.hxx:364:19:   required from ‘void pinocchio::buildReducedModel(const pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&, std::vector<long unsigned int>, const Eigen::MatrixBase<Matrix3Like>&, pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; ConfigVectorType = Eigen::Matrix<double, -1, 1>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/algorithm/model.hpp:119:22:   required from ‘pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl> pinocchio::buildReducedModel(const pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&, const std::vector<long unsigned int>&, const Eigen::MatrixBase<Matrix3Like>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; ConfigVectorType = Eigen::Matrix<double, -1, 1>]’
/home/apollo/Laas/pinocchio/bindings/python/algorithm/expose-model.cpp:98:27:   required from here
/usr/include/boost/variant/variant.hpp:2058:13: error: no matching function for call to ‘boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner::assign_impl(pinocchio::JointDataRevoluteTpl<double, 0, 0>&, nothrow_copy, nothrow_move_constructor, boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_)’
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1959:14: note: candidate: ‘template<class RhsT, class B1, class B2> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::true_, mpl_::false_, B2) [with RhsT = RhsT; B1 = B1; B2 = B2; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1959 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1959:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   couldn’t deduce template parameter ‘B1’
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1978:14: note: candidate: ‘template<class RhsT, class B> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::true_, mpl_::true_, B) [with RhsT = RhsT; B = B; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1978 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1978:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_move_constructor()’ (type ‘nothrow_move_constructor’ {aka ‘boost::integral_constant<bool, false>’}) to type ‘mpl_::true_’ {aka ‘mpl_::bool_<true>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1997:14: note: candidate: ‘template<class RhsT> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::false_, mpl_::false_, mpl_::true_) [with RhsT = RhsT; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1997 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1997:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_copy()’ (type ‘nothrow_copy’ {aka ‘mpl_::bool_<true>’}) to type ‘mpl_::false_’ {aka ‘mpl_::bool_<false>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:2033:14: note: candidate: ‘template<class RhsT> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(const RhsT&, mpl_::false_, mpl_::false_, mpl_::false_) [with RhsT = RhsT; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 2033 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:2033:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_copy()’ (type ‘nothrow_copy’ {aka ‘mpl_::bool_<true>’}) to type ‘mpl_::false_’ {aka ‘mpl_::bool_<false>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp: In instantiation of ‘void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::internal_visit(RhsT&, int) [with RhsT = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’:
/usr/include/boost/variant/detail/visitation_impl.hpp:130:9:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl_invoke_impl(int, Visitor&, VoidPtrCV, T*, mpl_::true_) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T = pinocchio::JointDataRevoluteTpl<double, 0, 1>; typename Visitor::result_type = void; mpl_::true_ = mpl_::bool_<true>]’
/usr/include/boost/variant/detail/visitation_impl.hpp:170:41:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl_invoke(int, Visitor&, VoidPtrCV, T*, NoBackupFlag, int) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T = pinocchio::JointDataRevoluteTpl<double, 0, 1>; NoBackupFlag = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_; typename Visitor::result_type = void]’
/usr/include/boost/variant/detail/visitation_impl.hpp:256:5:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl(int, int, Visitor&, VoidPtrCV, mpl_::false_, NoBackupFlag, Which*, step0*) [with Which = mpl_::int_<0>; step0 = boost::detail::variant::visitation_impl_step<boost::mpl::l_iter<boost::mpl::l_item<mpl_::long_<21>, pinocchio::JointDataRevoluteTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<20>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<19>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<18>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, boost::mpl::l_item<mpl_::long_<17>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, boost::mpl::l_item<mpl_::long_<16>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, boost::mpl::l_item<mpl_::long_<15>, pinocchio::JointDataFreeFlyerTpl<double>, boost::mpl::l_item<mpl_::long_<14>, pinocchio::JointDataPlanarTpl<double>, boost::mpl::l_item<mpl_::long_<13>, pinocchio::JointDataRevoluteUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<12>, pinocchio::JointDataSphericalTpl<double>, boost::mpl::l_item<mpl_::long_<11>, pinocchio::JointDataSphericalZYXTpl<double>, boost::mpl::l_item<mpl_::long_<10>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<9>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<8>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<7>, pinocchio::JointDataPrismaticUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<6>, pinocchio::JointDataTranslationTpl<double>, boost::mpl::l_item<mpl_::long_<5>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<4>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<3>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<1>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::mpl::l_end> > > > > > > > > > > > > > > > > > > > > >, boost::mpl::l_iter<boost::mpl::l_end> >; Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; NoBackupFlag = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_; typename Visitor::result_type = void; mpl_::false_ = mpl_::bool_<false>]’
/usr/include/boost/variant/variant.hpp:2321:48:   required from ‘static typename Visitor::result_type boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::internal_apply_visitor_impl(int, int, Visitor&, VoidPtrCV) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_; typename Visitor::result_type = void]’
/usr/include/boost/variant/variant.hpp:2335:43:   required from ‘typename Visitor::result_type boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::internal_apply_visitor(Visitor&) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_; typename Visitor::result_type = void]’
/usr/include/boost/variant/variant.hpp:2109:13:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-basic-visitors.hxx:31:34:   required from ‘static pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointDataVariant pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::run(const JointModelVariant&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointDataVariant = pinocchio::JointDataTpl<double>; pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointModelVariant = boost::variant<pinocchio::JointModelRevoluteTpl<double, 0, 0>, pinocchio::JointModelRevoluteTpl<double, 0, 1>, pinocchio::JointModelRevoluteTpl<double, 0, 2>, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 0> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 1> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 2> >, pinocchio::JointModelFreeFlyerTpl<double>, pinocchio::JointModelPlanarTpl<double>, pinocchio::JointModelRevoluteUnalignedTpl<double>, pinocchio::JointModelSphericalTpl<double>, pinocchio::JointModelSphericalZYXTpl<double>, pinocchio::JointModelPrismaticTpl<double, 0, 0>, pinocchio::JointModelPrismaticTpl<double, 0, 1>, pinocchio::JointModelPrismaticTpl<double, 0, 2>, pinocchio::JointModelPrismaticUnalignedTpl<double>, pinocchio::JointModelTranslationTpl<double>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointModelRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointModelCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-basic-visitors.hxx:38:67:   required from ‘pinocchio::JointDataTpl<Scalar, Options, JointCollectionTpl> pinocchio::createData(const pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-generic.hpp:202:72:   required from ‘pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::JointDataDerived pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::createData() const [with _Scalar = double; int _Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::JointDataDerived = pinocchio::JointDataTpl<double>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/algorithm/model.hxx:364:19:   required from ‘void pinocchio::buildReducedModel(const pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&, std::vector<long unsigned int>, const Eigen::MatrixBase<Matrix3Like>&, pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; ConfigVectorType = Eigen::Matrix<double, -1, 1>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/algorithm/model.hpp:119:22:   required from ‘pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl> pinocchio::buildReducedModel(const pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&, const std::vector<long unsigned int>&, const Eigen::MatrixBase<Matrix3Like>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; ConfigVectorType = Eigen::Matrix<double, -1, 1>]’
/home/apollo/Laas/pinocchio/bindings/python/algorithm/expose-model.cpp:98:27:   required from here
/usr/include/boost/variant/variant.hpp:2058:13: error: no matching function for call to ‘boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner::assign_impl(pinocchio::JointDataRevoluteTpl<double, 0, 1>&, nothrow_copy, nothrow_move_constructor, boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_)’
/usr/include/boost/variant/variant.hpp:1959:14: note: candidate: ‘template<class RhsT, class B1, class B2> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::true_, mpl_::false_, B2) [with RhsT = RhsT; B1 = B1; B2 = B2; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1959 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1959:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   couldn’t deduce template parameter ‘B1’
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1978:14: note: candidate: ‘template<class RhsT, class B> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::true_, mpl_::true_, B) [with RhsT = RhsT; B = B; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1978 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1978:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_move_constructor()’ (type ‘nothrow_move_constructor’ {aka ‘boost::integral_constant<bool, false>’}) to type ‘mpl_::true_’ {aka ‘mpl_::bool_<true>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1997:14: note: candidate: ‘template<class RhsT> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::false_, mpl_::false_, mpl_::true_) [with RhsT = RhsT; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1997 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1997:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_copy()’ (type ‘nothrow_copy’ {aka ‘mpl_::bool_<true>’}) to type ‘mpl_::false_’ {aka ‘mpl_::bool_<false>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:2033:14: note: candidate: ‘template<class RhsT> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(const RhsT&, mpl_::false_, mpl_::false_, mpl_::false_) [with RhsT = RhsT; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 2033 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:2033:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_copy()’ (type ‘nothrow_copy’ {aka ‘mpl_::bool_<true>’}) to type ‘mpl_::false_’ {aka ‘mpl_::bool_<false>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp: In instantiation of ‘void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::internal_visit(RhsT&, int) [with RhsT = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’:
/usr/include/boost/variant/detail/visitation_impl.hpp:130:9:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl_invoke_impl(int, Visitor&, VoidPtrCV, T*, mpl_::true_) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T = pinocchio::JointDataRevoluteTpl<double, 0, 2>; typename Visitor::result_type = void; mpl_::true_ = mpl_::bool_<true>]’
/usr/include/boost/variant/detail/visitation_impl.hpp:170:41:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl_invoke(int, Visitor&, VoidPtrCV, T*, NoBackupFlag, int) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T = pinocchio::JointDataRevoluteTpl<double, 0, 2>; NoBackupFlag = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_; typename Visitor::result_type = void]’
/usr/include/boost/variant/detail/visitation_impl.hpp:256:5:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl(int, int, Visitor&, VoidPtrCV, mpl_::false_, NoBackupFlag, Which*, step0*) [with Which = mpl_::int_<0>; step0 = boost::detail::variant::visitation_impl_step<boost::mpl::l_iter<boost::mpl::l_item<mpl_::long_<21>, pinocchio::JointDataRevoluteTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<20>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<19>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<18>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, boost::mpl::l_item<mpl_::long_<17>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, boost::mpl::l_item<mpl_::long_<16>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, boost::mpl::l_item<mpl_::long_<15>, pinocchio::JointDataFreeFlyerTpl<double>, boost::mpl::l_item<mpl_::long_<14>, pinocchio::JointDataPlanarTpl<double>, boost::mpl::l_item<mpl_::long_<13>, pinocchio::JointDataRevoluteUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<12>, pinocchio::JointDataSphericalTpl<double>, boost::mpl::l_item<mpl_::long_<11>, pinocchio::JointDataSphericalZYXTpl<double>, boost::mpl::l_item<mpl_::long_<10>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<9>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<8>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<7>, pinocchio::JointDataPrismaticUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<6>, pinocchio::JointDataTranslationTpl<double>, boost::mpl::l_item<mpl_::long_<5>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<4>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<3>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<1>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::mpl::l_end> > > > > > > > > > > > > > > > > > > > > >, boost::mpl::l_iter<boost::mpl::l_end> >; Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; NoBackupFlag = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_; typename Visitor::result_type = void; mpl_::false_ = mpl_::bool_<false>]’
/usr/include/boost/variant/variant.hpp:2321:48:   required from ‘static typename Visitor::result_type boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::internal_apply_visitor_impl(int, int, Visitor&, VoidPtrCV) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_; typename Visitor::result_type = void]’
/usr/include/boost/variant/variant.hpp:2335:43:   required from ‘typename Visitor::result_type boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::internal_apply_visitor(Visitor&) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_; typename Visitor::result_type = void]’
/usr/include/boost/variant/variant.hpp:2109:13:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-basic-visitors.hxx:31:34:   required from ‘static pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointDataVariant pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::run(const JointModelVariant&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointDataVariant = pinocchio::JointDataTpl<double>; pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointModelVariant = boost::variant<pinocchio::JointModelRevoluteTpl<double, 0, 0>, pinocchio::JointModelRevoluteTpl<double, 0, 1>, pinocchio::JointModelRevoluteTpl<double, 0, 2>, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 0> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 1> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 2> >, pinocchio::JointModelFreeFlyerTpl<double>, pinocchio::JointModelPlanarTpl<double>, pinocchio::JointModelRevoluteUnalignedTpl<double>, pinocchio::JointModelSphericalTpl<double>, pinocchio::JointModelSphericalZYXTpl<double>, pinocchio::JointModelPrismaticTpl<double, 0, 0>, pinocchio::JointModelPrismaticTpl<double, 0, 1>, pinocchio::JointModelPrismaticTpl<double, 0, 2>, pinocchio::JointModelPrismaticUnalignedTpl<double>, pinocchio::JointModelTranslationTpl<double>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointModelRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointModelCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-basic-visitors.hxx:38:67:   required from ‘pinocchio::JointDataTpl<Scalar, Options, JointCollectionTpl> pinocchio::createData(const pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-generic.hpp:202:72:   required from ‘pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::JointDataDerived pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::createData() const [with _Scalar = double; int _Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::JointDataDerived = pinocchio::JointDataTpl<double>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/algorithm/model.hxx:364:19:   required from ‘void pinocchio::buildReducedModel(const pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&, std::vector<long unsigned int>, const Eigen::MatrixBase<Matrix3Like>&, pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; ConfigVectorType = Eigen::Matrix<double, -1, 1>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/algorithm/model.hpp:119:22:   required from ‘pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl> pinocchio::buildReducedModel(const pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&, const std::vector<long unsigned int>&, const Eigen::MatrixBase<Matrix3Like>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; ConfigVectorType = Eigen::Matrix<double, -1, 1>]’
/home/apollo/Laas/pinocchio/bindings/python/algorithm/expose-model.cpp:98:27:   required from here
/usr/include/boost/variant/variant.hpp:2058:13: error: no matching function for call to ‘boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner::assign_impl(pinocchio::JointDataRevoluteTpl<double, 0, 2>&, nothrow_copy, nothrow_move_constructor, boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_)’
/usr/include/boost/variant/variant.hpp:1959:14: note: candidate: ‘template<class RhsT, class B1, class B2> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::true_, mpl_::false_, B2) [with RhsT = RhsT; B1 = B1; B2 = B2; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1959 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1959:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   couldn’t deduce template parameter ‘B1’
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1978:14: note: candidate: ‘template<class RhsT, class B> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::true_, mpl_::true_, B) [with RhsT = RhsT; B = B; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1978 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1978:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_move_constructor()’ (type ‘nothrow_move_constructor’ {aka ‘boost::integral_constant<bool, false>’}) to type ‘mpl_::true_’ {aka ‘mpl_::bool_<true>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1997:14: note: candidate: ‘template<class RhsT> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::false_, mpl_::false_, mpl_::true_) [with RhsT = RhsT; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1997 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1997:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_copy()’ (type ‘nothrow_copy’ {aka ‘mpl_::bool_<true>’}) to type ‘mpl_::false_’ {aka ‘mpl_::bool_<false>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:2033:14: note: candidate: ‘template<class RhsT> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(const RhsT&, mpl_::false_, mpl_::false_, mpl_::false_) [with RhsT = RhsT; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 2033 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:2033:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_copy()’ (type ‘nothrow_copy’ {aka ‘mpl_::bool_<true>’}) to type ‘mpl_::false_’ {aka ‘mpl_::bool_<false>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp: In instantiation of ‘void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::internal_visit(RhsT&, int) [with RhsT = pinocchio::JointDataFreeFlyerTpl<double>; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’:
/usr/include/boost/variant/detail/visitation_impl.hpp:130:9:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl_invoke_impl(int, Visitor&, VoidPtrCV, T*, mpl_::true_) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T = pinocchio::JointDataFreeFlyerTpl<double>; typename Visitor::result_type = void; mpl_::true_ = mpl_::bool_<true>]’
/usr/include/boost/variant/detail/visitation_impl.hpp:170:41:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl_invoke(int, Visitor&, VoidPtrCV, T*, NoBackupFlag, int) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T = pinocchio::JointDataFreeFlyerTpl<double>; NoBackupFlag = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_; typename Visitor::result_type = void]’
/usr/include/boost/variant/detail/visitation_impl.hpp:256:5:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl(int, int, Visitor&, VoidPtrCV, mpl_::false_, NoBackupFlag, Which*, step0*) [with Which = mpl_::int_<0>; step0 = boost::detail::variant::visitation_impl_step<boost::mpl::l_iter<boost::mpl::l_item<mpl_::long_<21>, pinocchio::JointDataRevoluteTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<20>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<19>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<18>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, boost::mpl::l_item<mpl_::long_<17>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, boost::mpl::l_item<mpl_::long_<16>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, boost::mpl::l_item<mpl_::long_<15>, pinocchio::JointDataFreeFlyerTpl<double>, boost::mpl::l_item<mpl_::long_<14>, pinocchio::JointDataPlanarTpl<double>, boost::mpl::l_item<mpl_::long_<13>, pinocchio::JointDataRevoluteUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<12>, pinocchio::JointDataSphericalTpl<double>, boost::mpl::l_item<mpl_::long_<11>, pinocchio::JointDataSphericalZYXTpl<double>, boost::mpl::l_item<mpl_::long_<10>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<9>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<8>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<7>, pinocchio::JointDataPrismaticUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<6>, pinocchio::JointDataTranslationTpl<double>, boost::mpl::l_item<mpl_::long_<5>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<4>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<3>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<1>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::mpl::l_end> > > > > > > > > > > > > > > > > > > > > >, boost::mpl::l_iter<boost::mpl::l_end> >; Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; NoBackupFlag = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_; typename Visitor::result_type = void; mpl_::false_ = mpl_::bool_<false>]’
/usr/include/boost/variant/variant.hpp:2321:48:   required from ‘static typename Visitor::result_type boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::internal_apply_visitor_impl(int, int, Visitor&, VoidPtrCV) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_; typename Visitor::result_type = void]’
/usr/include/boost/variant/variant.hpp:2335:43:   required from ‘typename Visitor::result_type boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::internal_apply_visitor(Visitor&) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_; typename Visitor::result_type = void]’
/usr/include/boost/variant/variant.hpp:2109:13:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-basic-visitors.hxx:31:34:   required from ‘static pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointDataVariant pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::run(const JointModelVariant&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointDataVariant = pinocchio::JointDataTpl<double>; pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointModelVariant = boost::variant<pinocchio::JointModelRevoluteTpl<double, 0, 0>, pinocchio::JointModelRevoluteTpl<double, 0, 1>, pinocchio::JointModelRevoluteTpl<double, 0, 2>, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 0> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 1> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 2> >, pinocchio::JointModelFreeFlyerTpl<double>, pinocchio::JointModelPlanarTpl<double>, pinocchio::JointModelRevoluteUnalignedTpl<double>, pinocchio::JointModelSphericalTpl<double>, pinocchio::JointModelSphericalZYXTpl<double>, pinocchio::JointModelPrismaticTpl<double, 0, 0>, pinocchio::JointModelPrismaticTpl<double, 0, 1>, pinocchio::JointModelPrismaticTpl<double, 0, 2>, pinocchio::JointModelPrismaticUnalignedTpl<double>, pinocchio::JointModelTranslationTpl<double>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointModelRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointModelCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-basic-visitors.hxx:38:67:   required from ‘pinocchio::JointDataTpl<Scalar, Options, JointCollectionTpl> pinocchio::createData(const pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-generic.hpp:202:72:   required from ‘pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::JointDataDerived pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::createData() const [with _Scalar = double; int _Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::JointDataDerived = pinocchio::JointDataTpl<double>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/algorithm/model.hxx:364:19:   required from ‘void pinocchio::buildReducedModel(const pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&, std::vector<long unsigned int>, const Eigen::MatrixBase<Matrix3Like>&, pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; ConfigVectorType = Eigen::Matrix<double, -1, 1>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/algorithm/model.hpp:119:22:   required from ‘pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl> pinocchio::buildReducedModel(const pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&, const std::vector<long unsigned int>&, const Eigen::MatrixBase<Matrix3Like>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; ConfigVectorType = Eigen::Matrix<double, -1, 1>]’
/home/apollo/Laas/pinocchio/bindings/python/algorithm/expose-model.cpp:98:27:   required from here
/usr/include/boost/variant/variant.hpp:2058:13: error: no matching function for call to ‘boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner::assign_impl(pinocchio::JointDataFreeFlyerTpl<double>&, nothrow_copy, nothrow_move_constructor, boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_)’
/usr/include/boost/variant/variant.hpp:1959:14: note: candidate: ‘template<class RhsT, class B1, class B2> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::true_, mpl_::false_, B2) [with RhsT = RhsT; B1 = B1; B2 = B2; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1959 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1959:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   couldn’t deduce template parameter ‘B1’
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1978:14: note: candidate: ‘template<class RhsT, class B> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::true_, mpl_::true_, B) [with RhsT = RhsT; B = B; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1978 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1978:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_move_constructor()’ (type ‘nothrow_move_constructor’ {aka ‘boost::integral_constant<bool, false>’}) to type ‘mpl_::true_’ {aka ‘mpl_::bool_<true>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1997:14: note: candidate: ‘template<class RhsT> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::false_, mpl_::false_, mpl_::true_) [with RhsT = RhsT; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1997 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1997:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_copy()’ (type ‘nothrow_copy’ {aka ‘mpl_::bool_<true>’}) to type ‘mpl_::false_’ {aka ‘mpl_::bool_<false>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:2033:14: note: candidate: ‘template<class RhsT> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(const RhsT&, mpl_::false_, mpl_::false_, mpl_::false_) [with RhsT = RhsT; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 2033 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:2033:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_copy()’ (type ‘nothrow_copy’ {aka ‘mpl_::bool_<true>’}) to type ‘mpl_::false_’ {aka ‘mpl_::bool_<false>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp: In instantiation of ‘void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::internal_visit(RhsT&, int) [with RhsT = pinocchio::JointDataPlanarTpl<double>; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’:
/usr/include/boost/variant/detail/visitation_impl.hpp:130:9:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl_invoke_impl(int, Visitor&, VoidPtrCV, T*, mpl_::true_) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T = pinocchio::JointDataPlanarTpl<double>; typename Visitor::result_type = void; mpl_::true_ = mpl_::bool_<true>]’
/usr/include/boost/variant/detail/visitation_impl.hpp:170:41:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl_invoke(int, Visitor&, VoidPtrCV, T*, NoBackupFlag, int) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T = pinocchio::JointDataPlanarTpl<double>; NoBackupFlag = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_; typename Visitor::result_type = void]’
/usr/include/boost/variant/detail/visitation_impl.hpp:256:5:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl(int, int, Visitor&, VoidPtrCV, mpl_::false_, NoBackupFlag, Which*, step0*) [with Which = mpl_::int_<0>; step0 = boost::detail::variant::visitation_impl_step<boost::mpl::l_iter<boost::mpl::l_item<mpl_::long_<21>, pinocchio::JointDataRevoluteTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<20>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<19>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<18>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, boost::mpl::l_item<mpl_::long_<17>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, boost::mpl::l_item<mpl_::long_<16>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, boost::mpl::l_item<mpl_::long_<15>, pinocchio::JointDataFreeFlyerTpl<double>, boost::mpl::l_item<mpl_::long_<14>, pinocchio::JointDataPlanarTpl<double>, boost::mpl::l_item<mpl_::long_<13>, pinocchio::JointDataRevoluteUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<12>, pinocchio::JointDataSphericalTpl<double>, boost::mpl::l_item<mpl_::long_<11>, pinocchio::JointDataSphericalZYXTpl<double>, boost::mpl::l_item<mpl_::long_<10>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<9>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<8>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<7>, pinocchio::JointDataPrismaticUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<6>, pinocchio::JointDataTranslationTpl<double>, boost::mpl::l_item<mpl_::long_<5>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<4>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<3>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<1>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::mpl::l_end> > > > > > > > > > > > > > > > > > > > > >, boost::mpl::l_iter<boost::mpl::l_end> >; Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; NoBackupFlag = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_; typename Visitor::result_type = void; mpl_::false_ = mpl_::bool_<false>]’
/usr/include/boost/variant/variant.hpp:2321:48:   required from ‘static typename Visitor::result_type boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::internal_apply_visitor_impl(int, int, Visitor&, VoidPtrCV) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_; typename Visitor::result_type = void]’
/usr/include/boost/variant/variant.hpp:2335:43:   required from ‘typename Visitor::result_type boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::internal_apply_visitor(Visitor&) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_; typename Visitor::result_type = void]’
/usr/include/boost/variant/variant.hpp:2109:13:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-basic-visitors.hxx:31:34:   required from ‘static pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointDataVariant pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::run(const JointModelVariant&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointDataVariant = pinocchio::JointDataTpl<double>; pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointModelVariant = boost::variant<pinocchio::JointModelRevoluteTpl<double, 0, 0>, pinocchio::JointModelRevoluteTpl<double, 0, 1>, pinocchio::JointModelRevoluteTpl<double, 0, 2>, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 0> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 1> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 2> >, pinocchio::JointModelFreeFlyerTpl<double>, pinocchio::JointModelPlanarTpl<double>, pinocchio::JointModelRevoluteUnalignedTpl<double>, pinocchio::JointModelSphericalTpl<double>, pinocchio::JointModelSphericalZYXTpl<double>, pinocchio::JointModelPrismaticTpl<double, 0, 0>, pinocchio::JointModelPrismaticTpl<double, 0, 1>, pinocchio::JointModelPrismaticTpl<double, 0, 2>, pinocchio::JointModelPrismaticUnalignedTpl<double>, pinocchio::JointModelTranslationTpl<double>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointModelRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointModelCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-basic-visitors.hxx:38:67:   required from ‘pinocchio::JointDataTpl<Scalar, Options, JointCollectionTpl> pinocchio::createData(const pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-generic.hpp:202:72:   required from ‘pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::JointDataDerived pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::createData() const [with _Scalar = double; int _Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::JointDataDerived = pinocchio::JointDataTpl<double>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/algorithm/model.hxx:364:19:   required from ‘void pinocchio::buildReducedModel(const pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&, std::vector<long unsigned int>, const Eigen::MatrixBase<Matrix3Like>&, pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; ConfigVectorType = Eigen::Matrix<double, -1, 1>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/algorithm/model.hpp:119:22:   required from ‘pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl> pinocchio::buildReducedModel(const pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&, const std::vector<long unsigned int>&, const Eigen::MatrixBase<Matrix3Like>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; ConfigVectorType = Eigen::Matrix<double, -1, 1>]’
/home/apollo/Laas/pinocchio/bindings/python/algorithm/expose-model.cpp:98:27:   required from here
/usr/include/boost/variant/variant.hpp:2058:13: error: no matching function for call to ‘boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner::assign_impl(pinocchio::JointDataPlanarTpl<double>&, nothrow_copy, nothrow_move_constructor, boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_)’
/usr/include/boost/variant/variant.hpp:1959:14: note: candidate: ‘template<class RhsT, class B1, class B2> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::true_, mpl_::false_, B2) [with RhsT = RhsT; B1 = B1; B2 = B2; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1959 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1959:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   couldn’t deduce template parameter ‘B1’
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1978:14: note: candidate: ‘template<class RhsT, class B> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::true_, mpl_::true_, B) [with RhsT = RhsT; B = B; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1978 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1978:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_move_constructor()’ (type ‘nothrow_move_constructor’ {aka ‘boost::integral_constant<bool, false>’}) to type ‘mpl_::true_’ {aka ‘mpl_::bool_<true>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1997:14: note: candidate: ‘template<class RhsT> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::false_, mpl_::false_, mpl_::true_) [with RhsT = RhsT; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1997 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1997:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_copy()’ (type ‘nothrow_copy’ {aka ‘mpl_::bool_<true>’}) to type ‘mpl_::false_’ {aka ‘mpl_::bool_<false>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:2033:14: note: candidate: ‘template<class RhsT> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(const RhsT&, mpl_::false_, mpl_::false_, mpl_::false_) [with RhsT = RhsT; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 2033 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:2033:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_copy()’ (type ‘nothrow_copy’ {aka ‘mpl_::bool_<true>’}) to type ‘mpl_::false_’ {aka ‘mpl_::bool_<false>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp: In instantiation of ‘void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::internal_visit(RhsT&, int) [with RhsT = pinocchio::JointDataRevoluteUnalignedTpl<double>; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’:
/usr/include/boost/variant/detail/visitation_impl.hpp:130:9:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl_invoke_impl(int, Visitor&, VoidPtrCV, T*, mpl_::true_) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T = pinocchio::JointDataRevoluteUnalignedTpl<double>; typename Visitor::result_type = void; mpl_::true_ = mpl_::bool_<true>]’
/usr/include/boost/variant/detail/visitation_impl.hpp:170:41:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl_invoke(int, Visitor&, VoidPtrCV, T*, NoBackupFlag, int) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T = pinocchio::JointDataRevoluteUnalignedTpl<double>; NoBackupFlag = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_; typename Visitor::result_type = void]’
/usr/include/boost/variant/detail/visitation_impl.hpp:256:5:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl(int, int, Visitor&, VoidPtrCV, mpl_::false_, NoBackupFlag, Which*, step0*) [with Which = mpl_::int_<0>; step0 = boost::detail::variant::visitation_impl_step<boost::mpl::l_iter<boost::mpl::l_item<mpl_::long_<21>, pinocchio::JointDataRevoluteTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<20>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<19>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<18>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, boost::mpl::l_item<mpl_::long_<17>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, boost::mpl::l_item<mpl_::long_<16>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, boost::mpl::l_item<mpl_::long_<15>, pinocchio::JointDataFreeFlyerTpl<double>, boost::mpl::l_item<mpl_::long_<14>, pinocchio::JointDataPlanarTpl<double>, boost::mpl::l_item<mpl_::long_<13>, pinocchio::JointDataRevoluteUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<12>, pinocchio::JointDataSphericalTpl<double>, boost::mpl::l_item<mpl_::long_<11>, pinocchio::JointDataSphericalZYXTpl<double>, boost::mpl::l_item<mpl_::long_<10>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<9>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<8>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<7>, pinocchio::JointDataPrismaticUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<6>, pinocchio::JointDataTranslationTpl<double>, boost::mpl::l_item<mpl_::long_<5>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<4>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<3>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<1>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::mpl::l_end> > > > > > > > > > > > > > > > > > > > > >, boost::mpl::l_iter<boost::mpl::l_end> >; Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; NoBackupFlag = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_; typename Visitor::result_type = void; mpl_::false_ = mpl_::bool_<false>]’
/usr/include/boost/variant/variant.hpp:2321:48:   required from ‘static typename Visitor::result_type boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::internal_apply_visitor_impl(int, int, Visitor&, VoidPtrCV) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_; typename Visitor::result_type = void]’
/usr/include/boost/variant/variant.hpp:2335:43:   required from ‘typename Visitor::result_type boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::internal_apply_visitor(Visitor&) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_; typename Visitor::result_type = void]’
/usr/include/boost/variant/variant.hpp:2109:13:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-basic-visitors.hxx:31:34:   required from ‘static pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointDataVariant pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::run(const JointModelVariant&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointDataVariant = pinocchio::JointDataTpl<double>; pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointModelVariant = boost::variant<pinocchio::JointModelRevoluteTpl<double, 0, 0>, pinocchio::JointModelRevoluteTpl<double, 0, 1>, pinocchio::JointModelRevoluteTpl<double, 0, 2>, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 0> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 1> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 2> >, pinocchio::JointModelFreeFlyerTpl<double>, pinocchio::JointModelPlanarTpl<double>, pinocchio::JointModelRevoluteUnalignedTpl<double>, pinocchio::JointModelSphericalTpl<double>, pinocchio::JointModelSphericalZYXTpl<double>, pinocchio::JointModelPrismaticTpl<double, 0, 0>, pinocchio::JointModelPrismaticTpl<double, 0, 1>, pinocchio::JointModelPrismaticTpl<double, 0, 2>, pinocchio::JointModelPrismaticUnalignedTpl<double>, pinocchio::JointModelTranslationTpl<double>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointModelRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointModelCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-basic-visitors.hxx:38:67:   required from ‘pinocchio::JointDataTpl<Scalar, Options, JointCollectionTpl> pinocchio::createData(const pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-generic.hpp:202:72:   required from ‘pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::JointDataDerived pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::createData() const [with _Scalar = double; int _Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::JointDataDerived = pinocchio::JointDataTpl<double>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/algorithm/model.hxx:364:19:   required from ‘void pinocchio::buildReducedModel(const pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&, std::vector<long unsigned int>, const Eigen::MatrixBase<Matrix3Like>&, pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; ConfigVectorType = Eigen::Matrix<double, -1, 1>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/algorithm/model.hpp:119:22:   required from ‘pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl> pinocchio::buildReducedModel(const pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&, const std::vector<long unsigned int>&, const Eigen::MatrixBase<Matrix3Like>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; ConfigVectorType = Eigen::Matrix<double, -1, 1>]’
/home/apollo/Laas/pinocchio/bindings/python/algorithm/expose-model.cpp:98:27:   required from here
/usr/include/boost/variant/variant.hpp:2058:13: error: no matching function for call to ‘boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner::assign_impl(pinocchio::JointDataRevoluteUnalignedTpl<double>&, nothrow_copy, nothrow_move_constructor, boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_)’
/usr/include/boost/variant/variant.hpp:1959:14: note: candidate: ‘template<class RhsT, class B1, class B2> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::true_, mpl_::false_, B2) [with RhsT = RhsT; B1 = B1; B2 = B2; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1959 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1959:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   couldn’t deduce template parameter ‘B1’
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1978:14: note: candidate: ‘template<class RhsT, class B> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::true_, mpl_::true_, B) [with RhsT = RhsT; B = B; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1978 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1978:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_move_constructor()’ (type ‘nothrow_move_constructor’ {aka ‘boost::integral_constant<bool, false>’}) to type ‘mpl_::true_’ {aka ‘mpl_::bool_<true>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1997:14: note: candidate: ‘template<class RhsT> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::false_, mpl_::false_, mpl_::true_) [with RhsT = RhsT; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1997 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1997:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_copy()’ (type ‘nothrow_copy’ {aka ‘mpl_::bool_<true>’}) to type ‘mpl_::false_’ {aka ‘mpl_::bool_<false>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:2033:14: note: candidate: ‘template<class RhsT> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(const RhsT&, mpl_::false_, mpl_::false_, mpl_::false_) [with RhsT = RhsT; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 2033 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:2033:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_copy()’ (type ‘nothrow_copy’ {aka ‘mpl_::bool_<true>’}) to type ‘mpl_::false_’ {aka ‘mpl_::bool_<false>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp: In instantiation of ‘void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::internal_visit(RhsT&, int) [with RhsT = pinocchio::JointDataSphericalTpl<double>; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’:
/usr/include/boost/variant/detail/visitation_impl.hpp:130:9:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl_invoke_impl(int, Visitor&, VoidPtrCV, T*, mpl_::true_) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T = pinocchio::JointDataSphericalTpl<double>; typename Visitor::result_type = void; mpl_::true_ = mpl_::bool_<true>]’
/usr/include/boost/variant/detail/visitation_impl.hpp:170:41:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl_invoke(int, Visitor&, VoidPtrCV, T*, NoBackupFlag, int) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T = pinocchio::JointDataSphericalTpl<double>; NoBackupFlag = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_; typename Visitor::result_type = void]’
/usr/include/boost/variant/detail/visitation_impl.hpp:256:5:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl(int, int, Visitor&, VoidPtrCV, mpl_::false_, NoBackupFlag, Which*, step0*) [with Which = mpl_::int_<0>; step0 = boost::detail::variant::visitation_impl_step<boost::mpl::l_iter<boost::mpl::l_item<mpl_::long_<21>, pinocchio::JointDataRevoluteTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<20>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<19>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<18>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, boost::mpl::l_item<mpl_::long_<17>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, boost::mpl::l_item<mpl_::long_<16>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, boost::mpl::l_item<mpl_::long_<15>, pinocchio::JointDataFreeFlyerTpl<double>, boost::mpl::l_item<mpl_::long_<14>, pinocchio::JointDataPlanarTpl<double>, boost::mpl::l_item<mpl_::long_<13>, pinocchio::JointDataRevoluteUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<12>, pinocchio::JointDataSphericalTpl<double>, boost::mpl::l_item<mpl_::long_<11>, pinocchio::JointDataSphericalZYXTpl<double>, boost::mpl::l_item<mpl_::long_<10>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<9>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<8>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<7>, pinocchio::JointDataPrismaticUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<6>, pinocchio::JointDataTranslationTpl<double>, boost::mpl::l_item<mpl_::long_<5>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<4>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<3>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<1>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::mpl::l_end> > > > > > > > > > > > > > > > > > > > > >, boost::mpl::l_iter<boost::mpl::l_end> >; Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; NoBackupFlag = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_; typename Visitor::result_type = void; mpl_::false_ = mpl_::bool_<false>]’
/usr/include/boost/variant/variant.hpp:2321:48:   required from ‘static typename Visitor::result_type boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::internal_apply_visitor_impl(int, int, Visitor&, VoidPtrCV) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_; typename Visitor::result_type = void]’
/usr/include/boost/variant/variant.hpp:2335:43:   required from ‘typename Visitor::result_type boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::internal_apply_visitor(Visitor&) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_; typename Visitor::result_type = void]’
/usr/include/boost/variant/variant.hpp:2109:13:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-basic-visitors.hxx:31:34:   required from ‘static pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointDataVariant pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::run(const JointModelVariant&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointDataVariant = pinocchio::JointDataTpl<double>; pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointModelVariant = boost::variant<pinocchio::JointModelRevoluteTpl<double, 0, 0>, pinocchio::JointModelRevoluteTpl<double, 0, 1>, pinocchio::JointModelRevoluteTpl<double, 0, 2>, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 0> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 1> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 2> >, pinocchio::JointModelFreeFlyerTpl<double>, pinocchio::JointModelPlanarTpl<double>, pinocchio::JointModelRevoluteUnalignedTpl<double>, pinocchio::JointModelSphericalTpl<double>, pinocchio::JointModelSphericalZYXTpl<double>, pinocchio::JointModelPrismaticTpl<double, 0, 0>, pinocchio::JointModelPrismaticTpl<double, 0, 1>, pinocchio::JointModelPrismaticTpl<double, 0, 2>, pinocchio::JointModelPrismaticUnalignedTpl<double>, pinocchio::JointModelTranslationTpl<double>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointModelRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointModelCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-basic-visitors.hxx:38:67:   required from ‘pinocchio::JointDataTpl<Scalar, Options, JointCollectionTpl> pinocchio::createData(const pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-generic.hpp:202:72:   required from ‘pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::JointDataDerived pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::createData() const [with _Scalar = double; int _Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::JointDataDerived = pinocchio::JointDataTpl<double>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/algorithm/model.hxx:364:19:   required from ‘void pinocchio::buildReducedModel(const pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&, std::vector<long unsigned int>, const Eigen::MatrixBase<Matrix3Like>&, pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; ConfigVectorType = Eigen::Matrix<double, -1, 1>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/algorithm/model.hpp:119:22:   required from ‘pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl> pinocchio::buildReducedModel(const pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&, const std::vector<long unsigned int>&, const Eigen::MatrixBase<Matrix3Like>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; ConfigVectorType = Eigen::Matrix<double, -1, 1>]’
/home/apollo/Laas/pinocchio/bindings/python/algorithm/expose-model.cpp:98:27:   required from here
/usr/include/boost/variant/variant.hpp:2058:13: error: no matching function for call to ‘boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner::assign_impl(pinocchio::JointDataSphericalTpl<double>&, nothrow_copy, nothrow_move_constructor, boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_)’
/usr/include/boost/variant/variant.hpp:1959:14: note: candidate: ‘template<class RhsT, class B1, class B2> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::true_, mpl_::false_, B2) [with RhsT = RhsT; B1 = B1; B2 = B2; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1959 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1959:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   couldn’t deduce template parameter ‘B1’
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1978:14: note: candidate: ‘template<class RhsT, class B> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::true_, mpl_::true_, B) [with RhsT = RhsT; B = B; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1978 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1978:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_move_constructor()’ (type ‘nothrow_move_constructor’ {aka ‘boost::integral_constant<bool, false>’}) to type ‘mpl_::true_’ {aka ‘mpl_::bool_<true>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1997:14: note: candidate: ‘template<class RhsT> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::false_, mpl_::false_, mpl_::true_) [with RhsT = RhsT; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1997 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1997:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_copy()’ (type ‘nothrow_copy’ {aka ‘mpl_::bool_<true>’}) to type ‘mpl_::false_’ {aka ‘mpl_::bool_<false>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:2033:14: note: candidate: ‘template<class RhsT> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(const RhsT&, mpl_::false_, mpl_::false_, mpl_::false_) [with RhsT = RhsT; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 2033 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:2033:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_copy()’ (type ‘nothrow_copy’ {aka ‘mpl_::bool_<true>’}) to type ‘mpl_::false_’ {aka ‘mpl_::bool_<false>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp: In instantiation of ‘void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::internal_visit(RhsT&, int) [with RhsT = pinocchio::JointDataSphericalZYXTpl<double>; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’:
/usr/include/boost/variant/detail/visitation_impl.hpp:130:9:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl_invoke_impl(int, Visitor&, VoidPtrCV, T*, mpl_::true_) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T = pinocchio::JointDataSphericalZYXTpl<double>; typename Visitor::result_type = void; mpl_::true_ = mpl_::bool_<true>]’
/usr/include/boost/variant/detail/visitation_impl.hpp:170:41:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl_invoke(int, Visitor&, VoidPtrCV, T*, NoBackupFlag, int) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T = pinocchio::JointDataSphericalZYXTpl<double>; NoBackupFlag = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_; typename Visitor::result_type = void]’
/usr/include/boost/variant/detail/visitation_impl.hpp:256:5:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl(int, int, Visitor&, VoidPtrCV, mpl_::false_, NoBackupFlag, Which*, step0*) [with Which = mpl_::int_<0>; step0 = boost::detail::variant::visitation_impl_step<boost::mpl::l_iter<boost::mpl::l_item<mpl_::long_<21>, pinocchio::JointDataRevoluteTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<20>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<19>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<18>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, boost::mpl::l_item<mpl_::long_<17>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, boost::mpl::l_item<mpl_::long_<16>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, boost::mpl::l_item<mpl_::long_<15>, pinocchio::JointDataFreeFlyerTpl<double>, boost::mpl::l_item<mpl_::long_<14>, pinocchio::JointDataPlanarTpl<double>, boost::mpl::l_item<mpl_::long_<13>, pinocchio::JointDataRevoluteUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<12>, pinocchio::JointDataSphericalTpl<double>, boost::mpl::l_item<mpl_::long_<11>, pinocchio::JointDataSphericalZYXTpl<double>, boost::mpl::l_item<mpl_::long_<10>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<9>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<8>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<7>, pinocchio::JointDataPrismaticUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<6>, pinocchio::JointDataTranslationTpl<double>, boost::mpl::l_item<mpl_::long_<5>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<4>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<3>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<1>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::mpl::l_end> > > > > > > > > > > > > > > > > > > > > >, boost::mpl::l_iter<boost::mpl::l_end> >; Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; NoBackupFlag = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_; typename Visitor::result_type = void; mpl_::false_ = mpl_::bool_<false>]’
/usr/include/boost/variant/variant.hpp:2321:48:   required from ‘static typename Visitor::result_type boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::internal_apply_visitor_impl(int, int, Visitor&, VoidPtrCV) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_; typename Visitor::result_type = void]’
/usr/include/boost/variant/variant.hpp:2335:43:   required from ‘typename Visitor::result_type boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::internal_apply_visitor(Visitor&) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_; typename Visitor::result_type = void]’
/usr/include/boost/variant/variant.hpp:2109:13:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-basic-visitors.hxx:31:34:   required from ‘static pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointDataVariant pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::run(const JointModelVariant&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointDataVariant = pinocchio::JointDataTpl<double>; pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointModelVariant = boost::variant<pinocchio::JointModelRevoluteTpl<double, 0, 0>, pinocchio::JointModelRevoluteTpl<double, 0, 1>, pinocchio::JointModelRevoluteTpl<double, 0, 2>, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 0> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 1> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 2> >, pinocchio::JointModelFreeFlyerTpl<double>, pinocchio::JointModelPlanarTpl<double>, pinocchio::JointModelRevoluteUnalignedTpl<double>, pinocchio::JointModelSphericalTpl<double>, pinocchio::JointModelSphericalZYXTpl<double>, pinocchio::JointModelPrismaticTpl<double, 0, 0>, pinocchio::JointModelPrismaticTpl<double, 0, 1>, pinocchio::JointModelPrismaticTpl<double, 0, 2>, pinocchio::JointModelPrismaticUnalignedTpl<double>, pinocchio::JointModelTranslationTpl<double>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointModelRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointModelCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-basic-visitors.hxx:38:67:   required from ‘pinocchio::JointDataTpl<Scalar, Options, JointCollectionTpl> pinocchio::createData(const pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-generic.hpp:202:72:   required from ‘pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::JointDataDerived pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::createData() const [with _Scalar = double; int _Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::JointDataDerived = pinocchio::JointDataTpl<double>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/algorithm/model.hxx:364:19:   required from ‘void pinocchio::buildReducedModel(const pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&, std::vector<long unsigned int>, const Eigen::MatrixBase<Matrix3Like>&, pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; ConfigVectorType = Eigen::Matrix<double, -1, 1>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/algorithm/model.hpp:119:22:   required from ‘pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl> pinocchio::buildReducedModel(const pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&, const std::vector<long unsigned int>&, const Eigen::MatrixBase<Matrix3Like>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; ConfigVectorType = Eigen::Matrix<double, -1, 1>]’
/home/apollo/Laas/pinocchio/bindings/python/algorithm/expose-model.cpp:98:27:   required from here
/usr/include/boost/variant/variant.hpp:2058:13: error: no matching function for call to ‘boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner::assign_impl(pinocchio::JointDataSphericalZYXTpl<double>&, nothrow_copy, nothrow_move_constructor, boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_)’
/usr/include/boost/variant/variant.hpp:1959:14: note: candidate: ‘template<class RhsT, class B1, class B2> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::true_, mpl_::false_, B2) [with RhsT = RhsT; B1 = B1; B2 = B2; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1959 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1959:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   couldn’t deduce template parameter ‘B1’
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1978:14: note: candidate: ‘template<class RhsT, class B> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::true_, mpl_::true_, B) [with RhsT = RhsT; B = B; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1978 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1978:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_move_constructor()’ (type ‘nothrow_move_constructor’ {aka ‘boost::integral_constant<bool, false>’}) to type ‘mpl_::true_’ {aka ‘mpl_::bool_<true>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1997:14: note: candidate: ‘template<class RhsT> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::false_, mpl_::false_, mpl_::true_) [with RhsT = RhsT; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1997 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1997:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_copy()’ (type ‘nothrow_copy’ {aka ‘mpl_::bool_<true>’}) to type ‘mpl_::false_’ {aka ‘mpl_::bool_<false>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:2033:14: note: candidate: ‘template<class RhsT> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(const RhsT&, mpl_::false_, mpl_::false_, mpl_::false_) [with RhsT = RhsT; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 2033 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:2033:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_copy()’ (type ‘nothrow_copy’ {aka ‘mpl_::bool_<true>’}) to type ‘mpl_::false_’ {aka ‘mpl_::bool_<false>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp: In instantiation of ‘void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::internal_visit(RhsT&, int) [with RhsT = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’:
/usr/include/boost/variant/detail/visitation_impl.hpp:130:9:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl_invoke_impl(int, Visitor&, VoidPtrCV, T*, mpl_::true_) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T = pinocchio::JointDataPrismaticTpl<double, 0, 0>; typename Visitor::result_type = void; mpl_::true_ = mpl_::bool_<true>]’
/usr/include/boost/variant/detail/visitation_impl.hpp:170:41:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl_invoke(int, Visitor&, VoidPtrCV, T*, NoBackupFlag, int) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T = pinocchio::JointDataPrismaticTpl<double, 0, 0>; NoBackupFlag = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_; typename Visitor::result_type = void]’
/usr/include/boost/variant/detail/visitation_impl.hpp:256:5:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl(int, int, Visitor&, VoidPtrCV, mpl_::false_, NoBackupFlag, Which*, step0*) [with Which = mpl_::int_<0>; step0 = boost::detail::variant::visitation_impl_step<boost::mpl::l_iter<boost::mpl::l_item<mpl_::long_<21>, pinocchio::JointDataRevoluteTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<20>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<19>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<18>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, boost::mpl::l_item<mpl_::long_<17>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, boost::mpl::l_item<mpl_::long_<16>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, boost::mpl::l_item<mpl_::long_<15>, pinocchio::JointDataFreeFlyerTpl<double>, boost::mpl::l_item<mpl_::long_<14>, pinocchio::JointDataPlanarTpl<double>, boost::mpl::l_item<mpl_::long_<13>, pinocchio::JointDataRevoluteUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<12>, pinocchio::JointDataSphericalTpl<double>, boost::mpl::l_item<mpl_::long_<11>, pinocchio::JointDataSphericalZYXTpl<double>, boost::mpl::l_item<mpl_::long_<10>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<9>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<8>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<7>, pinocchio::JointDataPrismaticUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<6>, pinocchio::JointDataTranslationTpl<double>, boost::mpl::l_item<mpl_::long_<5>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<4>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<3>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<1>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::mpl::l_end> > > > > > > > > > > > > > > > > > > > > >, boost::mpl::l_iter<boost::mpl::l_end> >; Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; NoBackupFlag = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_; typename Visitor::result_type = void; mpl_::false_ = mpl_::bool_<false>]’
/usr/include/boost/variant/variant.hpp:2321:48:   required from ‘static typename Visitor::result_type boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::internal_apply_visitor_impl(int, int, Visitor&, VoidPtrCV) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_; typename Visitor::result_type = void]’
/usr/include/boost/variant/variant.hpp:2335:43:   required from ‘typename Visitor::result_type boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::internal_apply_visitor(Visitor&) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_; typename Visitor::result_type = void]’
/usr/include/boost/variant/variant.hpp:2109:13:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-basic-visitors.hxx:31:34:   required from ‘static pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointDataVariant pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::run(const JointModelVariant&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointDataVariant = pinocchio::JointDataTpl<double>; pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointModelVariant = boost::variant<pinocchio::JointModelRevoluteTpl<double, 0, 0>, pinocchio::JointModelRevoluteTpl<double, 0, 1>, pinocchio::JointModelRevoluteTpl<double, 0, 2>, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 0> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 1> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 2> >, pinocchio::JointModelFreeFlyerTpl<double>, pinocchio::JointModelPlanarTpl<double>, pinocchio::JointModelRevoluteUnalignedTpl<double>, pinocchio::JointModelSphericalTpl<double>, pinocchio::JointModelSphericalZYXTpl<double>, pinocchio::JointModelPrismaticTpl<double, 0, 0>, pinocchio::JointModelPrismaticTpl<double, 0, 1>, pinocchio::JointModelPrismaticTpl<double, 0, 2>, pinocchio::JointModelPrismaticUnalignedTpl<double>, pinocchio::JointModelTranslationTpl<double>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointModelRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointModelCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-basic-visitors.hxx:38:67:   required from ‘pinocchio::JointDataTpl<Scalar, Options, JointCollectionTpl> pinocchio::createData(const pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-generic.hpp:202:72:   required from ‘pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::JointDataDerived pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::createData() const [with _Scalar = double; int _Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::JointDataDerived = pinocchio::JointDataTpl<double>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/algorithm/model.hxx:364:19:   required from ‘void pinocchio::buildReducedModel(const pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&, std::vector<long unsigned int>, const Eigen::MatrixBase<Matrix3Like>&, pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; ConfigVectorType = Eigen::Matrix<double, -1, 1>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/algorithm/model.hpp:119:22:   required from ‘pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl> pinocchio::buildReducedModel(const pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&, const std::vector<long unsigned int>&, const Eigen::MatrixBase<Matrix3Like>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; ConfigVectorType = Eigen::Matrix<double, -1, 1>]’
/home/apollo/Laas/pinocchio/bindings/python/algorithm/expose-model.cpp:98:27:   required from here
/usr/include/boost/variant/variant.hpp:2058:13: error: no matching function for call to ‘boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner::assign_impl(pinocchio::JointDataPrismaticTpl<double, 0, 0>&, nothrow_copy, nothrow_move_constructor, boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_)’
/usr/include/boost/variant/variant.hpp:1959:14: note: candidate: ‘template<class RhsT, class B1, class B2> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::true_, mpl_::false_, B2) [with RhsT = RhsT; B1 = B1; B2 = B2; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1959 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1959:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   couldn’t deduce template parameter ‘B1’
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1978:14: note: candidate: ‘template<class RhsT, class B> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::true_, mpl_::true_, B) [with RhsT = RhsT; B = B; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1978 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1978:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_move_constructor()’ (type ‘nothrow_move_constructor’ {aka ‘boost::integral_constant<bool, false>’}) to type ‘mpl_::true_’ {aka ‘mpl_::bool_<true>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1997:14: note: candidate: ‘template<class RhsT> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::false_, mpl_::false_, mpl_::true_) [with RhsT = RhsT; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1997 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1997:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_copy()’ (type ‘nothrow_copy’ {aka ‘mpl_::bool_<true>’}) to type ‘mpl_::false_’ {aka ‘mpl_::bool_<false>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:2033:14: note: candidate: ‘template<class RhsT> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(const RhsT&, mpl_::false_, mpl_::false_, mpl_::false_) [with RhsT = RhsT; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 2033 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:2033:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_copy()’ (type ‘nothrow_copy’ {aka ‘mpl_::bool_<true>’}) to type ‘mpl_::false_’ {aka ‘mpl_::bool_<false>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp: In instantiation of ‘void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::internal_visit(RhsT&, int) [with RhsT = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’:
/usr/include/boost/variant/detail/visitation_impl.hpp:130:9:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl_invoke_impl(int, Visitor&, VoidPtrCV, T*, mpl_::true_) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T = pinocchio::JointDataPrismaticTpl<double, 0, 1>; typename Visitor::result_type = void; mpl_::true_ = mpl_::bool_<true>]’
/usr/include/boost/variant/detail/visitation_impl.hpp:170:41:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl_invoke(int, Visitor&, VoidPtrCV, T*, NoBackupFlag, int) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T = pinocchio::JointDataPrismaticTpl<double, 0, 1>; NoBackupFlag = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_; typename Visitor::result_type = void]’
/usr/include/boost/variant/detail/visitation_impl.hpp:256:5:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl(int, int, Visitor&, VoidPtrCV, mpl_::false_, NoBackupFlag, Which*, step0*) [with Which = mpl_::int_<0>; step0 = boost::detail::variant::visitation_impl_step<boost::mpl::l_iter<boost::mpl::l_item<mpl_::long_<21>, pinocchio::JointDataRevoluteTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<20>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<19>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<18>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, boost::mpl::l_item<mpl_::long_<17>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, boost::mpl::l_item<mpl_::long_<16>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, boost::mpl::l_item<mpl_::long_<15>, pinocchio::JointDataFreeFlyerTpl<double>, boost::mpl::l_item<mpl_::long_<14>, pinocchio::JointDataPlanarTpl<double>, boost::mpl::l_item<mpl_::long_<13>, pinocchio::JointDataRevoluteUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<12>, pinocchio::JointDataSphericalTpl<double>, boost::mpl::l_item<mpl_::long_<11>, pinocchio::JointDataSphericalZYXTpl<double>, boost::mpl::l_item<mpl_::long_<10>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<9>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<8>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<7>, pinocchio::JointDataPrismaticUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<6>, pinocchio::JointDataTranslationTpl<double>, boost::mpl::l_item<mpl_::long_<5>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<4>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<3>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<1>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::mpl::l_end> > > > > > > > > > > > > > > > > > > > > >, boost::mpl::l_iter<boost::mpl::l_end> >; Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; NoBackupFlag = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_; typename Visitor::result_type = void; mpl_::false_ = mpl_::bool_<false>]’
/usr/include/boost/variant/variant.hpp:2321:48:   required from ‘static typename Visitor::result_type boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::internal_apply_visitor_impl(int, int, Visitor&, VoidPtrCV) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_; typename Visitor::result_type = void]’
/usr/include/boost/variant/variant.hpp:2335:43:   required from ‘typename Visitor::result_type boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::internal_apply_visitor(Visitor&) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_; typename Visitor::result_type = void]’
/usr/include/boost/variant/variant.hpp:2109:13:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-basic-visitors.hxx:31:34:   required from ‘static pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointDataVariant pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::run(const JointModelVariant&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointDataVariant = pinocchio::JointDataTpl<double>; pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointModelVariant = boost::variant<pinocchio::JointModelRevoluteTpl<double, 0, 0>, pinocchio::JointModelRevoluteTpl<double, 0, 1>, pinocchio::JointModelRevoluteTpl<double, 0, 2>, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 0> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 1> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 2> >, pinocchio::JointModelFreeFlyerTpl<double>, pinocchio::JointModelPlanarTpl<double>, pinocchio::JointModelRevoluteUnalignedTpl<double>, pinocchio::JointModelSphericalTpl<double>, pinocchio::JointModelSphericalZYXTpl<double>, pinocchio::JointModelPrismaticTpl<double, 0, 0>, pinocchio::JointModelPrismaticTpl<double, 0, 1>, pinocchio::JointModelPrismaticTpl<double, 0, 2>, pinocchio::JointModelPrismaticUnalignedTpl<double>, pinocchio::JointModelTranslationTpl<double>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointModelRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointModelCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-basic-visitors.hxx:38:67:   required from ‘pinocchio::JointDataTpl<Scalar, Options, JointCollectionTpl> pinocchio::createData(const pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-generic.hpp:202:72:   required from ‘pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::JointDataDerived pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::createData() const [with _Scalar = double; int _Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::JointDataDerived = pinocchio::JointDataTpl<double>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/algorithm/model.hxx:364:19:   required from ‘void pinocchio::buildReducedModel(const pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&, std::vector<long unsigned int>, const Eigen::MatrixBase<Matrix3Like>&, pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; ConfigVectorType = Eigen::Matrix<double, -1, 1>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/algorithm/model.hpp:119:22:   required from ‘pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl> pinocchio::buildReducedModel(const pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&, const std::vector<long unsigned int>&, const Eigen::MatrixBase<Matrix3Like>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; ConfigVectorType = Eigen::Matrix<double, -1, 1>]’
/home/apollo/Laas/pinocchio/bindings/python/algorithm/expose-model.cpp:98:27:   required from here
/usr/include/boost/variant/variant.hpp:2058:13: error: no matching function for call to ‘boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner::assign_impl(pinocchio::JointDataPrismaticTpl<double, 0, 1>&, nothrow_copy, nothrow_move_constructor, boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_)’
/usr/include/boost/variant/variant.hpp:1959:14: note: candidate: ‘template<class RhsT, class B1, class B2> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::true_, mpl_::false_, B2) [with RhsT = RhsT; B1 = B1; B2 = B2; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1959 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1959:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   couldn’t deduce template parameter ‘B1’
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1978:14: note: candidate: ‘template<class RhsT, class B> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::true_, mpl_::true_, B) [with RhsT = RhsT; B = B; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1978 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1978:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_move_constructor()’ (type ‘nothrow_move_constructor’ {aka ‘boost::integral_constant<bool, false>’}) to type ‘mpl_::true_’ {aka ‘mpl_::bool_<true>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1997:14: note: candidate: ‘template<class RhsT> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::false_, mpl_::false_, mpl_::true_) [with RhsT = RhsT; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1997 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1997:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_copy()’ (type ‘nothrow_copy’ {aka ‘mpl_::bool_<true>’}) to type ‘mpl_::false_’ {aka ‘mpl_::bool_<false>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:2033:14: note: candidate: ‘template<class RhsT> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(const RhsT&, mpl_::false_, mpl_::false_, mpl_::false_) [with RhsT = RhsT; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 2033 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:2033:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_copy()’ (type ‘nothrow_copy’ {aka ‘mpl_::bool_<true>’}) to type ‘mpl_::false_’ {aka ‘mpl_::bool_<false>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp: In instantiation of ‘void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::internal_visit(RhsT&, int) [with RhsT = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’:
/usr/include/boost/variant/detail/visitation_impl.hpp:130:9:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl_invoke_impl(int, Visitor&, VoidPtrCV, T*, mpl_::true_) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T = pinocchio::JointDataPrismaticTpl<double, 0, 2>; typename Visitor::result_type = void; mpl_::true_ = mpl_::bool_<true>]’
/usr/include/boost/variant/detail/visitation_impl.hpp:170:41:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl_invoke(int, Visitor&, VoidPtrCV, T*, NoBackupFlag, int) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T = pinocchio::JointDataPrismaticTpl<double, 0, 2>; NoBackupFlag = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_; typename Visitor::result_type = void]’
/usr/include/boost/variant/detail/visitation_impl.hpp:256:5:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl(int, int, Visitor&, VoidPtrCV, mpl_::false_, NoBackupFlag, Which*, step0*) [with Which = mpl_::int_<0>; step0 = boost::detail::variant::visitation_impl_step<boost::mpl::l_iter<boost::mpl::l_item<mpl_::long_<21>, pinocchio::JointDataRevoluteTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<20>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<19>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<18>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, boost::mpl::l_item<mpl_::long_<17>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, boost::mpl::l_item<mpl_::long_<16>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, boost::mpl::l_item<mpl_::long_<15>, pinocchio::JointDataFreeFlyerTpl<double>, boost::mpl::l_item<mpl_::long_<14>, pinocchio::JointDataPlanarTpl<double>, boost::mpl::l_item<mpl_::long_<13>, pinocchio::JointDataRevoluteUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<12>, pinocchio::JointDataSphericalTpl<double>, boost::mpl::l_item<mpl_::long_<11>, pinocchio::JointDataSphericalZYXTpl<double>, boost::mpl::l_item<mpl_::long_<10>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<9>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<8>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<7>, pinocchio::JointDataPrismaticUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<6>, pinocchio::JointDataTranslationTpl<double>, boost::mpl::l_item<mpl_::long_<5>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<4>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<3>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<1>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::mpl::l_end> > > > > > > > > > > > > > > > > > > > > >, boost::mpl::l_iter<boost::mpl::l_end> >; Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; NoBackupFlag = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_; typename Visitor::result_type = void; mpl_::false_ = mpl_::bool_<false>]’
/usr/include/boost/variant/variant.hpp:2321:48:   required from ‘static typename Visitor::result_type boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::internal_apply_visitor_impl(int, int, Visitor&, VoidPtrCV) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_; typename Visitor::result_type = void]’
/usr/include/boost/variant/variant.hpp:2335:43:   required from ‘typename Visitor::result_type boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::internal_apply_visitor(Visitor&) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_; typename Visitor::result_type = void]’
/usr/include/boost/variant/variant.hpp:2109:13:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-basic-visitors.hxx:31:34:   required from ‘static pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointDataVariant pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::run(const JointModelVariant&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointDataVariant = pinocchio::JointDataTpl<double>; pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointModelVariant = boost::variant<pinocchio::JointModelRevoluteTpl<double, 0, 0>, pinocchio::JointModelRevoluteTpl<double, 0, 1>, pinocchio::JointModelRevoluteTpl<double, 0, 2>, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 0> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 1> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 2> >, pinocchio::JointModelFreeFlyerTpl<double>, pinocchio::JointModelPlanarTpl<double>, pinocchio::JointModelRevoluteUnalignedTpl<double>, pinocchio::JointModelSphericalTpl<double>, pinocchio::JointModelSphericalZYXTpl<double>, pinocchio::JointModelPrismaticTpl<double, 0, 0>, pinocchio::JointModelPrismaticTpl<double, 0, 1>, pinocchio::JointModelPrismaticTpl<double, 0, 2>, pinocchio::JointModelPrismaticUnalignedTpl<double>, pinocchio::JointModelTranslationTpl<double>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointModelRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointModelCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-basic-visitors.hxx:38:67:   required from ‘pinocchio::JointDataTpl<Scalar, Options, JointCollectionTpl> pinocchio::createData(const pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-generic.hpp:202:72:   required from ‘pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::JointDataDerived pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::createData() const [with _Scalar = double; int _Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::JointDataDerived = pinocchio::JointDataTpl<double>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/algorithm/model.hxx:364:19:   required from ‘void pinocchio::buildReducedModel(const pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&, std::vector<long unsigned int>, const Eigen::MatrixBase<Matrix3Like>&, pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; ConfigVectorType = Eigen::Matrix<double, -1, 1>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/algorithm/model.hpp:119:22:   required from ‘pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl> pinocchio::buildReducedModel(const pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&, const std::vector<long unsigned int>&, const Eigen::MatrixBase<Matrix3Like>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; ConfigVectorType = Eigen::Matrix<double, -1, 1>]’
/home/apollo/Laas/pinocchio/bindings/python/algorithm/expose-model.cpp:98:27:   required from here
/usr/include/boost/variant/variant.hpp:2058:13: error: no matching function for call to ‘boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner::assign_impl(pinocchio::JointDataPrismaticTpl<double, 0, 2>&, nothrow_copy, nothrow_move_constructor, boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_)’
/usr/include/boost/variant/variant.hpp:1959:14: note: candidate: ‘template<class RhsT, class B1, class B2> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::true_, mpl_::false_, B2) [with RhsT = RhsT; B1 = B1; B2 = B2; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1959 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1959:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   couldn’t deduce template parameter ‘B1’
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1978:14: note: candidate: ‘template<class RhsT, class B> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::true_, mpl_::true_, B) [with RhsT = RhsT; B = B; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1978 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1978:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_move_constructor()’ (type ‘nothrow_move_constructor’ {aka ‘boost::integral_constant<bool, false>’}) to type ‘mpl_::true_’ {aka ‘mpl_::bool_<true>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1997:14: note: candidate: ‘template<class RhsT> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::false_, mpl_::false_, mpl_::true_) [with RhsT = RhsT; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1997 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1997:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_copy()’ (type ‘nothrow_copy’ {aka ‘mpl_::bool_<true>’}) to type ‘mpl_::false_’ {aka ‘mpl_::bool_<false>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:2033:14: note: candidate: ‘template<class RhsT> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(const RhsT&, mpl_::false_, mpl_::false_, mpl_::false_) [with RhsT = RhsT; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 2033 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:2033:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_copy()’ (type ‘nothrow_copy’ {aka ‘mpl_::bool_<true>’}) to type ‘mpl_::false_’ {aka ‘mpl_::bool_<false>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp: In instantiation of ‘void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::internal_visit(RhsT&, int) [with RhsT = pinocchio::JointDataPrismaticUnalignedTpl<double>; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’:
/usr/include/boost/variant/detail/visitation_impl.hpp:130:9:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl_invoke_impl(int, Visitor&, VoidPtrCV, T*, mpl_::true_) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T = pinocchio::JointDataPrismaticUnalignedTpl<double>; typename Visitor::result_type = void; mpl_::true_ = mpl_::bool_<true>]’
/usr/include/boost/variant/detail/visitation_impl.hpp:170:41:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl_invoke(int, Visitor&, VoidPtrCV, T*, NoBackupFlag, int) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T = pinocchio::JointDataPrismaticUnalignedTpl<double>; NoBackupFlag = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_; typename Visitor::result_type = void]’
/usr/include/boost/variant/detail/visitation_impl.hpp:256:5:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl(int, int, Visitor&, VoidPtrCV, mpl_::false_, NoBackupFlag, Which*, step0*) [with Which = mpl_::int_<0>; step0 = boost::detail::variant::visitation_impl_step<boost::mpl::l_iter<boost::mpl::l_item<mpl_::long_<21>, pinocchio::JointDataRevoluteTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<20>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<19>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<18>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, boost::mpl::l_item<mpl_::long_<17>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, boost::mpl::l_item<mpl_::long_<16>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, boost::mpl::l_item<mpl_::long_<15>, pinocchio::JointDataFreeFlyerTpl<double>, boost::mpl::l_item<mpl_::long_<14>, pinocchio::JointDataPlanarTpl<double>, boost::mpl::l_item<mpl_::long_<13>, pinocchio::JointDataRevoluteUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<12>, pinocchio::JointDataSphericalTpl<double>, boost::mpl::l_item<mpl_::long_<11>, pinocchio::JointDataSphericalZYXTpl<double>, boost::mpl::l_item<mpl_::long_<10>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<9>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<8>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<7>, pinocchio::JointDataPrismaticUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<6>, pinocchio::JointDataTranslationTpl<double>, boost::mpl::l_item<mpl_::long_<5>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<4>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<3>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<1>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::mpl::l_end> > > > > > > > > > > > > > > > > > > > > >, boost::mpl::l_iter<boost::mpl::l_end> >; Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; NoBackupFlag = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_; typename Visitor::result_type = void; mpl_::false_ = mpl_::bool_<false>]’
/usr/include/boost/variant/variant.hpp:2321:48:   required from ‘static typename Visitor::result_type boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::internal_apply_visitor_impl(int, int, Visitor&, VoidPtrCV) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_; typename Visitor::result_type = void]’
/usr/include/boost/variant/variant.hpp:2335:43:   required from ‘typename Visitor::result_type boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::internal_apply_visitor(Visitor&) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_; typename Visitor::result_type = void]’
/usr/include/boost/variant/variant.hpp:2109:13:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-basic-visitors.hxx:31:34:   required from ‘static pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointDataVariant pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::run(const JointModelVariant&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointDataVariant = pinocchio::JointDataTpl<double>; pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointModelVariant = boost::variant<pinocchio::JointModelRevoluteTpl<double, 0, 0>, pinocchio::JointModelRevoluteTpl<double, 0, 1>, pinocchio::JointModelRevoluteTpl<double, 0, 2>, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 0> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 1> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 2> >, pinocchio::JointModelFreeFlyerTpl<double>, pinocchio::JointModelPlanarTpl<double>, pinocchio::JointModelRevoluteUnalignedTpl<double>, pinocchio::JointModelSphericalTpl<double>, pinocchio::JointModelSphericalZYXTpl<double>, pinocchio::JointModelPrismaticTpl<double, 0, 0>, pinocchio::JointModelPrismaticTpl<double, 0, 1>, pinocchio::JointModelPrismaticTpl<double, 0, 2>, pinocchio::JointModelPrismaticUnalignedTpl<double>, pinocchio::JointModelTranslationTpl<double>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointModelRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointModelCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-basic-visitors.hxx:38:67:   required from ‘pinocchio::JointDataTpl<Scalar, Options, JointCollectionTpl> pinocchio::createData(const pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-generic.hpp:202:72:   required from ‘pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::JointDataDerived pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::createData() const [with _Scalar = double; int _Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::JointDataDerived = pinocchio::JointDataTpl<double>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/algorithm/model.hxx:364:19:   required from ‘void pinocchio::buildReducedModel(const pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&, std::vector<long unsigned int>, const Eigen::MatrixBase<Matrix3Like>&, pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; ConfigVectorType = Eigen::Matrix<double, -1, 1>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/algorithm/model.hpp:119:22:   required from ‘pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl> pinocchio::buildReducedModel(const pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&, const std::vector<long unsigned int>&, const Eigen::MatrixBase<Matrix3Like>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; ConfigVectorType = Eigen::Matrix<double, -1, 1>]’
/home/apollo/Laas/pinocchio/bindings/python/algorithm/expose-model.cpp:98:27:   required from here
/usr/include/boost/variant/variant.hpp:2058:13: error: no matching function for call to ‘boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner::assign_impl(pinocchio::JointDataPrismaticUnalignedTpl<double>&, nothrow_copy, nothrow_move_constructor, boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_)’
/usr/include/boost/variant/variant.hpp:1959:14: note: candidate: ‘template<class RhsT, class B1, class B2> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::true_, mpl_::false_, B2) [with RhsT = RhsT; B1 = B1; B2 = B2; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1959 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1959:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   couldn’t deduce template parameter ‘B1’
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1978:14: note: candidate: ‘template<class RhsT, class B> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::true_, mpl_::true_, B) [with RhsT = RhsT; B = B; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1978 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1978:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_move_constructor()’ (type ‘nothrow_move_constructor’ {aka ‘boost::integral_constant<bool, false>’}) to type ‘mpl_::true_’ {aka ‘mpl_::bool_<true>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1997:14: note: candidate: ‘template<class RhsT> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::false_, mpl_::false_, mpl_::true_) [with RhsT = RhsT; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1997 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1997:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_copy()’ (type ‘nothrow_copy’ {aka ‘mpl_::bool_<true>’}) to type ‘mpl_::false_’ {aka ‘mpl_::bool_<false>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:2033:14: note: candidate: ‘template<class RhsT> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(const RhsT&, mpl_::false_, mpl_::false_, mpl_::false_) [with RhsT = RhsT; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 2033 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:2033:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_copy()’ (type ‘nothrow_copy’ {aka ‘mpl_::bool_<true>’}) to type ‘mpl_::false_’ {aka ‘mpl_::bool_<false>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp: In instantiation of ‘void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::internal_visit(RhsT&, int) [with RhsT = pinocchio::JointDataTranslationTpl<double>; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’:
/usr/include/boost/variant/detail/visitation_impl.hpp:130:9:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl_invoke_impl(int, Visitor&, VoidPtrCV, T*, mpl_::true_) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T = pinocchio::JointDataTranslationTpl<double>; typename Visitor::result_type = void; mpl_::true_ = mpl_::bool_<true>]’
/usr/include/boost/variant/detail/visitation_impl.hpp:170:41:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl_invoke(int, Visitor&, VoidPtrCV, T*, NoBackupFlag, int) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T = pinocchio::JointDataTranslationTpl<double>; NoBackupFlag = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_; typename Visitor::result_type = void]’
/usr/include/boost/variant/detail/visitation_impl.hpp:256:5:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl(int, int, Visitor&, VoidPtrCV, mpl_::false_, NoBackupFlag, Which*, step0*) [with Which = mpl_::int_<0>; step0 = boost::detail::variant::visitation_impl_step<boost::mpl::l_iter<boost::mpl::l_item<mpl_::long_<21>, pinocchio::JointDataRevoluteTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<20>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<19>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<18>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, boost::mpl::l_item<mpl_::long_<17>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, boost::mpl::l_item<mpl_::long_<16>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, boost::mpl::l_item<mpl_::long_<15>, pinocchio::JointDataFreeFlyerTpl<double>, boost::mpl::l_item<mpl_::long_<14>, pinocchio::JointDataPlanarTpl<double>, boost::mpl::l_item<mpl_::long_<13>, pinocchio::JointDataRevoluteUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<12>, pinocchio::JointDataSphericalTpl<double>, boost::mpl::l_item<mpl_::long_<11>, pinocchio::JointDataSphericalZYXTpl<double>, boost::mpl::l_item<mpl_::long_<10>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<9>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<8>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<7>, pinocchio::JointDataPrismaticUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<6>, pinocchio::JointDataTranslationTpl<double>, boost::mpl::l_item<mpl_::long_<5>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<4>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<3>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<1>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::mpl::l_end> > > > > > > > > > > > > > > > > > > > > >, boost::mpl::l_iter<boost::mpl::l_end> >; Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; NoBackupFlag = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_; typename Visitor::result_type = void; mpl_::false_ = mpl_::bool_<false>]’
/usr/include/boost/variant/variant.hpp:2321:48:   required from ‘static typename Visitor::result_type boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::internal_apply_visitor_impl(int, int, Visitor&, VoidPtrCV) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_; typename Visitor::result_type = void]’
/usr/include/boost/variant/variant.hpp:2335:43:   required from ‘typename Visitor::result_type boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::internal_apply_visitor(Visitor&) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_; typename Visitor::result_type = void]’
/usr/include/boost/variant/variant.hpp:2109:13:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-basic-visitors.hxx:31:34:   required from ‘static pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointDataVariant pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::run(const JointModelVariant&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointDataVariant = pinocchio::JointDataTpl<double>; pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointModelVariant = boost::variant<pinocchio::JointModelRevoluteTpl<double, 0, 0>, pinocchio::JointModelRevoluteTpl<double, 0, 1>, pinocchio::JointModelRevoluteTpl<double, 0, 2>, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 0> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 1> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 2> >, pinocchio::JointModelFreeFlyerTpl<double>, pinocchio::JointModelPlanarTpl<double>, pinocchio::JointModelRevoluteUnalignedTpl<double>, pinocchio::JointModelSphericalTpl<double>, pinocchio::JointModelSphericalZYXTpl<double>, pinocchio::JointModelPrismaticTpl<double, 0, 0>, pinocchio::JointModelPrismaticTpl<double, 0, 1>, pinocchio::JointModelPrismaticTpl<double, 0, 2>, pinocchio::JointModelPrismaticUnalignedTpl<double>, pinocchio::JointModelTranslationTpl<double>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointModelRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointModelCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-basic-visitors.hxx:38:67:   required from ‘pinocchio::JointDataTpl<Scalar, Options, JointCollectionTpl> pinocchio::createData(const pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-generic.hpp:202:72:   required from ‘pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::JointDataDerived pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::createData() const [with _Scalar = double; int _Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::JointDataDerived = pinocchio::JointDataTpl<double>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/algorithm/model.hxx:364:19:   required from ‘void pinocchio::buildReducedModel(const pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&, std::vector<long unsigned int>, const Eigen::MatrixBase<Matrix3Like>&, pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; ConfigVectorType = Eigen::Matrix<double, -1, 1>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/algorithm/model.hpp:119:22:   required from ‘pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl> pinocchio::buildReducedModel(const pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&, const std::vector<long unsigned int>&, const Eigen::MatrixBase<Matrix3Like>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; ConfigVectorType = Eigen::Matrix<double, -1, 1>]’
/home/apollo/Laas/pinocchio/bindings/python/algorithm/expose-model.cpp:98:27:   required from here
/usr/include/boost/variant/variant.hpp:2058:13: error: no matching function for call to ‘boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner::assign_impl(pinocchio::JointDataTranslationTpl<double>&, nothrow_copy, nothrow_move_constructor, boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_)’
/usr/include/boost/variant/variant.hpp:1959:14: note: candidate: ‘template<class RhsT, class B1, class B2> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::true_, mpl_::false_, B2) [with RhsT = RhsT; B1 = B1; B2 = B2; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1959 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1959:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   couldn’t deduce template parameter ‘B1’
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1978:14: note: candidate: ‘template<class RhsT, class B> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::true_, mpl_::true_, B) [with RhsT = RhsT; B = B; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1978 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1978:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_move_constructor()’ (type ‘nothrow_move_constructor’ {aka ‘boost::integral_constant<bool, false>’}) to type ‘mpl_::true_’ {aka ‘mpl_::bool_<true>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1997:14: note: candidate: ‘template<class RhsT> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::false_, mpl_::false_, mpl_::true_) [with RhsT = RhsT; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1997 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1997:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_copy()’ (type ‘nothrow_copy’ {aka ‘mpl_::bool_<true>’}) to type ‘mpl_::false_’ {aka ‘mpl_::bool_<false>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:2033:14: note: candidate: ‘template<class RhsT> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(const RhsT&, mpl_::false_, mpl_::false_, mpl_::false_) [with RhsT = RhsT; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 2033 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:2033:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_copy()’ (type ‘nothrow_copy’ {aka ‘mpl_::bool_<true>’}) to type ‘mpl_::false_’ {aka ‘mpl_::bool_<false>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp: In instantiation of ‘void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::internal_visit(RhsT&, int) [with RhsT = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’:
/usr/include/boost/variant/detail/visitation_impl.hpp:130:9:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl_invoke_impl(int, Visitor&, VoidPtrCV, T*, mpl_::true_) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; typename Visitor::result_type = void; mpl_::true_ = mpl_::bool_<true>]’
/usr/include/boost/variant/detail/visitation_impl.hpp:170:41:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl_invoke(int, Visitor&, VoidPtrCV, T*, NoBackupFlag, int) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; NoBackupFlag = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_; typename Visitor::result_type = void]’
/usr/include/boost/variant/detail/visitation_impl.hpp:256:5:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl(int, int, Visitor&, VoidPtrCV, mpl_::false_, NoBackupFlag, Which*, step0*) [with Which = mpl_::int_<0>; step0 = boost::detail::variant::visitation_impl_step<boost::mpl::l_iter<boost::mpl::l_item<mpl_::long_<21>, pinocchio::JointDataRevoluteTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<20>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<19>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<18>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, boost::mpl::l_item<mpl_::long_<17>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, boost::mpl::l_item<mpl_::long_<16>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, boost::mpl::l_item<mpl_::long_<15>, pinocchio::JointDataFreeFlyerTpl<double>, boost::mpl::l_item<mpl_::long_<14>, pinocchio::JointDataPlanarTpl<double>, boost::mpl::l_item<mpl_::long_<13>, pinocchio::JointDataRevoluteUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<12>, pinocchio::JointDataSphericalTpl<double>, boost::mpl::l_item<mpl_::long_<11>, pinocchio::JointDataSphericalZYXTpl<double>, boost::mpl::l_item<mpl_::long_<10>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<9>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<8>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<7>, pinocchio::JointDataPrismaticUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<6>, pinocchio::JointDataTranslationTpl<double>, boost::mpl::l_item<mpl_::long_<5>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<4>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<3>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<1>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::mpl::l_end> > > > > > > > > > > > > > > > > > > > > >, boost::mpl::l_iter<boost::mpl::l_end> >; Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; NoBackupFlag = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_; typename Visitor::result_type = void; mpl_::false_ = mpl_::bool_<false>]’
/usr/include/boost/variant/variant.hpp:2321:48:   required from ‘static typename Visitor::result_type boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::internal_apply_visitor_impl(int, int, Visitor&, VoidPtrCV) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_; typename Visitor::result_type = void]’
/usr/include/boost/variant/variant.hpp:2335:43:   required from ‘typename Visitor::result_type boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::internal_apply_visitor(Visitor&) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_; typename Visitor::result_type = void]’
/usr/include/boost/variant/variant.hpp:2109:13:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-basic-visitors.hxx:31:34:   required from ‘static pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointDataVariant pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::run(const JointModelVariant&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointDataVariant = pinocchio::JointDataTpl<double>; pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointModelVariant = boost::variant<pinocchio::JointModelRevoluteTpl<double, 0, 0>, pinocchio::JointModelRevoluteTpl<double, 0, 1>, pinocchio::JointModelRevoluteTpl<double, 0, 2>, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 0> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 1> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 2> >, pinocchio::JointModelFreeFlyerTpl<double>, pinocchio::JointModelPlanarTpl<double>, pinocchio::JointModelRevoluteUnalignedTpl<double>, pinocchio::JointModelSphericalTpl<double>, pinocchio::JointModelSphericalZYXTpl<double>, pinocchio::JointModelPrismaticTpl<double, 0, 0>, pinocchio::JointModelPrismaticTpl<double, 0, 1>, pinocchio::JointModelPrismaticTpl<double, 0, 2>, pinocchio::JointModelPrismaticUnalignedTpl<double>, pinocchio::JointModelTranslationTpl<double>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointModelRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointModelCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-basic-visitors.hxx:38:67:   required from ‘pinocchio::JointDataTpl<Scalar, Options, JointCollectionTpl> pinocchio::createData(const pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-generic.hpp:202:72:   required from ‘pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::JointDataDerived pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::createData() const [with _Scalar = double; int _Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::JointDataDerived = pinocchio::JointDataTpl<double>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/algorithm/model.hxx:364:19:   required from ‘void pinocchio::buildReducedModel(const pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&, std::vector<long unsigned int>, const Eigen::MatrixBase<Matrix3Like>&, pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; ConfigVectorType = Eigen::Matrix<double, -1, 1>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/algorithm/model.hpp:119:22:   required from ‘pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl> pinocchio::buildReducedModel(const pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&, const std::vector<long unsigned int>&, const Eigen::MatrixBase<Matrix3Like>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; ConfigVectorType = Eigen::Matrix<double, -1, 1>]’
/home/apollo/Laas/pinocchio/bindings/python/algorithm/expose-model.cpp:98:27:   required from here
/usr/include/boost/variant/variant.hpp:2058:13: error: no matching function for call to ‘boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner::assign_impl(pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>&, nothrow_copy, nothrow_move_constructor, boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_)’
/usr/include/boost/variant/variant.hpp:1959:14: note: candidate: ‘template<class RhsT, class B1, class B2> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::true_, mpl_::false_, B2) [with RhsT = RhsT; B1 = B1; B2 = B2; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1959 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1959:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   couldn’t deduce template parameter ‘B1’
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1978:14: note: candidate: ‘template<class RhsT, class B> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::true_, mpl_::true_, B) [with RhsT = RhsT; B = B; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1978 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1978:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_move_constructor()’ (type ‘nothrow_move_constructor’ {aka ‘boost::integral_constant<bool, false>’}) to type ‘mpl_::true_’ {aka ‘mpl_::bool_<true>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1997:14: note: candidate: ‘template<class RhsT> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::false_, mpl_::false_, mpl_::true_) [with RhsT = RhsT; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1997 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1997:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_copy()’ (type ‘nothrow_copy’ {aka ‘mpl_::bool_<true>’}) to type ‘mpl_::false_’ {aka ‘mpl_::bool_<false>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:2033:14: note: candidate: ‘template<class RhsT> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(const RhsT&, mpl_::false_, mpl_::false_, mpl_::false_) [with RhsT = RhsT; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 2033 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:2033:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_copy()’ (type ‘nothrow_copy’ {aka ‘mpl_::bool_<true>’}) to type ‘mpl_::false_’ {aka ‘mpl_::bool_<false>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp: In instantiation of ‘void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::internal_visit(RhsT&, int) [with RhsT = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’:
/usr/include/boost/variant/detail/visitation_impl.hpp:130:9:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl_invoke_impl(int, Visitor&, VoidPtrCV, T*, mpl_::true_) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; typename Visitor::result_type = void; mpl_::true_ = mpl_::bool_<true>]’
/usr/include/boost/variant/detail/visitation_impl.hpp:170:41:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl_invoke(int, Visitor&, VoidPtrCV, T*, NoBackupFlag, int) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; NoBackupFlag = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_; typename Visitor::result_type = void]’
/usr/include/boost/variant/detail/visitation_impl.hpp:256:5:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl(int, int, Visitor&, VoidPtrCV, mpl_::false_, NoBackupFlag, Which*, step0*) [with Which = mpl_::int_<0>; step0 = boost::detail::variant::visitation_impl_step<boost::mpl::l_iter<boost::mpl::l_item<mpl_::long_<21>, pinocchio::JointDataRevoluteTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<20>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<19>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<18>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, boost::mpl::l_item<mpl_::long_<17>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, boost::mpl::l_item<mpl_::long_<16>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, boost::mpl::l_item<mpl_::long_<15>, pinocchio::JointDataFreeFlyerTpl<double>, boost::mpl::l_item<mpl_::long_<14>, pinocchio::JointDataPlanarTpl<double>, boost::mpl::l_item<mpl_::long_<13>, pinocchio::JointDataRevoluteUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<12>, pinocchio::JointDataSphericalTpl<double>, boost::mpl::l_item<mpl_::long_<11>, pinocchio::JointDataSphericalZYXTpl<double>, boost::mpl::l_item<mpl_::long_<10>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<9>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<8>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<7>, pinocchio::JointDataPrismaticUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<6>, pinocchio::JointDataTranslationTpl<double>, boost::mpl::l_item<mpl_::long_<5>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<4>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<3>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<1>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::mpl::l_end> > > > > > > > > > > > > > > > > > > > > >, boost::mpl::l_iter<boost::mpl::l_end> >; Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; NoBackupFlag = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_; typename Visitor::result_type = void; mpl_::false_ = mpl_::bool_<false>]’
/usr/include/boost/variant/variant.hpp:2321:48:   required from ‘static typename Visitor::result_type boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::internal_apply_visitor_impl(int, int, Visitor&, VoidPtrCV) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_; typename Visitor::result_type = void]’
/usr/include/boost/variant/variant.hpp:2335:43:   required from ‘typename Visitor::result_type boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::internal_apply_visitor(Visitor&) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_; typename Visitor::result_type = void]’
/usr/include/boost/variant/variant.hpp:2109:13:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-basic-visitors.hxx:31:34:   required from ‘static pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointDataVariant pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::run(const JointModelVariant&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointDataVariant = pinocchio::JointDataTpl<double>; pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointModelVariant = boost::variant<pinocchio::JointModelRevoluteTpl<double, 0, 0>, pinocchio::JointModelRevoluteTpl<double, 0, 1>, pinocchio::JointModelRevoluteTpl<double, 0, 2>, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 0> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 1> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 2> >, pinocchio::JointModelFreeFlyerTpl<double>, pinocchio::JointModelPlanarTpl<double>, pinocchio::JointModelRevoluteUnalignedTpl<double>, pinocchio::JointModelSphericalTpl<double>, pinocchio::JointModelSphericalZYXTpl<double>, pinocchio::JointModelPrismaticTpl<double, 0, 0>, pinocchio::JointModelPrismaticTpl<double, 0, 1>, pinocchio::JointModelPrismaticTpl<double, 0, 2>, pinocchio::JointModelPrismaticUnalignedTpl<double>, pinocchio::JointModelTranslationTpl<double>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointModelRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointModelCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-basic-visitors.hxx:38:67:   required from ‘pinocchio::JointDataTpl<Scalar, Options, JointCollectionTpl> pinocchio::createData(const pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-generic.hpp:202:72:   required from ‘pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::JointDataDerived pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::createData() const [with _Scalar = double; int _Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::JointDataDerived = pinocchio::JointDataTpl<double>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/algorithm/model.hxx:364:19:   required from ‘void pinocchio::buildReducedModel(const pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&, std::vector<long unsigned int>, const Eigen::MatrixBase<Matrix3Like>&, pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; ConfigVectorType = Eigen::Matrix<double, -1, 1>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/algorithm/model.hpp:119:22:   required from ‘pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl> pinocchio::buildReducedModel(const pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&, const std::vector<long unsigned int>&, const Eigen::MatrixBase<Matrix3Like>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; ConfigVectorType = Eigen::Matrix<double, -1, 1>]’
/home/apollo/Laas/pinocchio/bindings/python/algorithm/expose-model.cpp:98:27:   required from here
/usr/include/boost/variant/variant.hpp:2058:13: error: no matching function for call to ‘boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner::assign_impl(pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>&, nothrow_copy, nothrow_move_constructor, boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_)’
/usr/include/boost/variant/variant.hpp:1959:14: note: candidate: ‘template<class RhsT, class B1, class B2> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::true_, mpl_::false_, B2) [with RhsT = RhsT; B1 = B1; B2 = B2; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1959 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1959:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   couldn’t deduce template parameter ‘B1’
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1978:14: note: candidate: ‘template<class RhsT, class B> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::true_, mpl_::true_, B) [with RhsT = RhsT; B = B; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1978 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1978:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_move_constructor()’ (type ‘nothrow_move_constructor’ {aka ‘boost::integral_constant<bool, false>’}) to type ‘mpl_::true_’ {aka ‘mpl_::bool_<true>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1997:14: note: candidate: ‘template<class RhsT> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::false_, mpl_::false_, mpl_::true_) [with RhsT = RhsT; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1997 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1997:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_copy()’ (type ‘nothrow_copy’ {aka ‘mpl_::bool_<true>’}) to type ‘mpl_::false_’ {aka ‘mpl_::bool_<false>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:2033:14: note: candidate: ‘template<class RhsT> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(const RhsT&, mpl_::false_, mpl_::false_, mpl_::false_) [with RhsT = RhsT; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 2033 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:2033:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_copy()’ (type ‘nothrow_copy’ {aka ‘mpl_::bool_<true>’}) to type ‘mpl_::false_’ {aka ‘mpl_::bool_<false>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp: In instantiation of ‘void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::internal_visit(RhsT&, int) [with RhsT = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’:
/usr/include/boost/variant/detail/visitation_impl.hpp:130:9:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl_invoke_impl(int, Visitor&, VoidPtrCV, T*, mpl_::true_) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; typename Visitor::result_type = void; mpl_::true_ = mpl_::bool_<true>]’
/usr/include/boost/variant/detail/visitation_impl.hpp:170:41:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl_invoke(int, Visitor&, VoidPtrCV, T*, NoBackupFlag, int) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; NoBackupFlag = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_; typename Visitor::result_type = void]’
/usr/include/boost/variant/detail/visitation_impl.hpp:256:5:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl(int, int, Visitor&, VoidPtrCV, mpl_::false_, NoBackupFlag, Which*, step0*) [with Which = mpl_::int_<0>; step0 = boost::detail::variant::visitation_impl_step<boost::mpl::l_iter<boost::mpl::l_item<mpl_::long_<21>, pinocchio::JointDataRevoluteTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<20>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<19>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<18>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, boost::mpl::l_item<mpl_::long_<17>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, boost::mpl::l_item<mpl_::long_<16>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, boost::mpl::l_item<mpl_::long_<15>, pinocchio::JointDataFreeFlyerTpl<double>, boost::mpl::l_item<mpl_::long_<14>, pinocchio::JointDataPlanarTpl<double>, boost::mpl::l_item<mpl_::long_<13>, pinocchio::JointDataRevoluteUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<12>, pinocchio::JointDataSphericalTpl<double>, boost::mpl::l_item<mpl_::long_<11>, pinocchio::JointDataSphericalZYXTpl<double>, boost::mpl::l_item<mpl_::long_<10>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<9>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<8>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<7>, pinocchio::JointDataPrismaticUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<6>, pinocchio::JointDataTranslationTpl<double>, boost::mpl::l_item<mpl_::long_<5>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<4>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<3>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<1>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::mpl::l_end> > > > > > > > > > > > > > > > > > > > > >, boost::mpl::l_iter<boost::mpl::l_end> >; Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; NoBackupFlag = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_; typename Visitor::result_type = void; mpl_::false_ = mpl_::bool_<false>]’
/usr/include/boost/variant/variant.hpp:2321:48:   required from ‘static typename Visitor::result_type boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::internal_apply_visitor_impl(int, int, Visitor&, VoidPtrCV) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_; typename Visitor::result_type = void]’
/usr/include/boost/variant/variant.hpp:2335:43:   required from ‘typename Visitor::result_type boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::internal_apply_visitor(Visitor&) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_; typename Visitor::result_type = void]’
/usr/include/boost/variant/variant.hpp:2109:13:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-basic-visitors.hxx:31:34:   required from ‘static pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointDataVariant pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::run(const JointModelVariant&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointDataVariant = pinocchio::JointDataTpl<double>; pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointModelVariant = boost::variant<pinocchio::JointModelRevoluteTpl<double, 0, 0>, pinocchio::JointModelRevoluteTpl<double, 0, 1>, pinocchio::JointModelRevoluteTpl<double, 0, 2>, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 0> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 1> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 2> >, pinocchio::JointModelFreeFlyerTpl<double>, pinocchio::JointModelPlanarTpl<double>, pinocchio::JointModelRevoluteUnalignedTpl<double>, pinocchio::JointModelSphericalTpl<double>, pinocchio::JointModelSphericalZYXTpl<double>, pinocchio::JointModelPrismaticTpl<double, 0, 0>, pinocchio::JointModelPrismaticTpl<double, 0, 1>, pinocchio::JointModelPrismaticTpl<double, 0, 2>, pinocchio::JointModelPrismaticUnalignedTpl<double>, pinocchio::JointModelTranslationTpl<double>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointModelRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointModelCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-basic-visitors.hxx:38:67:   required from ‘pinocchio::JointDataTpl<Scalar, Options, JointCollectionTpl> pinocchio::createData(const pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-generic.hpp:202:72:   required from ‘pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::JointDataDerived pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::createData() const [with _Scalar = double; int _Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::JointDataDerived = pinocchio::JointDataTpl<double>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/algorithm/model.hxx:364:19:   required from ‘void pinocchio::buildReducedModel(const pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&, std::vector<long unsigned int>, const Eigen::MatrixBase<Matrix3Like>&, pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; ConfigVectorType = Eigen::Matrix<double, -1, 1>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/algorithm/model.hpp:119:22:   required from ‘pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl> pinocchio::buildReducedModel(const pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&, const std::vector<long unsigned int>&, const Eigen::MatrixBase<Matrix3Like>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; ConfigVectorType = Eigen::Matrix<double, -1, 1>]’
/home/apollo/Laas/pinocchio/bindings/python/algorithm/expose-model.cpp:98:27:   required from here
/usr/include/boost/variant/variant.hpp:2058:13: error: no matching function for call to ‘boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner::assign_impl(pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>&, nothrow_copy, nothrow_move_constructor, boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_)’
/usr/include/boost/variant/variant.hpp:1959:14: note: candidate: ‘template<class RhsT, class B1, class B2> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::true_, mpl_::false_, B2) [with RhsT = RhsT; B1 = B1; B2 = B2; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1959 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1959:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   couldn’t deduce template parameter ‘B1’
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1978:14: note: candidate: ‘template<class RhsT, class B> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::true_, mpl_::true_, B) [with RhsT = RhsT; B = B; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1978 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1978:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_move_constructor()’ (type ‘nothrow_move_constructor’ {aka ‘boost::integral_constant<bool, false>’}) to type ‘mpl_::true_’ {aka ‘mpl_::bool_<true>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1997:14: note: candidate: ‘template<class RhsT> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::false_, mpl_::false_, mpl_::true_) [with RhsT = RhsT; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1997 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1997:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_copy()’ (type ‘nothrow_copy’ {aka ‘mpl_::bool_<true>’}) to type ‘mpl_::false_’ {aka ‘mpl_::bool_<false>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:2033:14: note: candidate: ‘template<class RhsT> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(const RhsT&, mpl_::false_, mpl_::false_, mpl_::false_) [with RhsT = RhsT; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 2033 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:2033:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_copy()’ (type ‘nothrow_copy’ {aka ‘mpl_::bool_<true>’}) to type ‘mpl_::false_’ {aka ‘mpl_::bool_<false>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp: In instantiation of ‘void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::internal_visit(RhsT&, int) [with RhsT = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’:
/usr/include/boost/variant/detail/visitation_impl.hpp:130:9:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl_invoke_impl(int, Visitor&, VoidPtrCV, T*, mpl_::true_) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; typename Visitor::result_type = void; mpl_::true_ = mpl_::bool_<true>]’
/usr/include/boost/variant/detail/visitation_impl.hpp:170:41:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl_invoke(int, Visitor&, VoidPtrCV, T*, NoBackupFlag, int) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; NoBackupFlag = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_; typename Visitor::result_type = void]’
/usr/include/boost/variant/detail/visitation_impl.hpp:256:5:   required from ‘typename Visitor::result_type boost::detail::variant::visitation_impl(int, int, Visitor&, VoidPtrCV, mpl_::false_, NoBackupFlag, Which*, step0*) [with Which = mpl_::int_<0>; step0 = boost::detail::variant::visitation_impl_step<boost::mpl::l_iter<boost::mpl::l_item<mpl_::long_<21>, pinocchio::JointDataRevoluteTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<20>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<19>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<18>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, boost::mpl::l_item<mpl_::long_<17>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, boost::mpl::l_item<mpl_::long_<16>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, boost::mpl::l_item<mpl_::long_<15>, pinocchio::JointDataFreeFlyerTpl<double>, boost::mpl::l_item<mpl_::long_<14>, pinocchio::JointDataPlanarTpl<double>, boost::mpl::l_item<mpl_::long_<13>, pinocchio::JointDataRevoluteUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<12>, pinocchio::JointDataSphericalTpl<double>, boost::mpl::l_item<mpl_::long_<11>, pinocchio::JointDataSphericalZYXTpl<double>, boost::mpl::l_item<mpl_::long_<10>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<9>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<8>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<7>, pinocchio::JointDataPrismaticUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<6>, pinocchio::JointDataTranslationTpl<double>, boost::mpl::l_item<mpl_::long_<5>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, boost::mpl::l_item<mpl_::long_<4>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, boost::mpl::l_item<mpl_::long_<3>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, boost::mpl::l_item<mpl_::long_<2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::mpl::l_item<mpl_::long_<1>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::mpl::l_end> > > > > > > > > > > > > > > > > > > > > >, boost::mpl::l_iter<boost::mpl::l_end> >; Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; NoBackupFlag = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_; typename Visitor::result_type = void; mpl_::false_ = mpl_::bool_<false>]’
/usr/include/boost/variant/variant.hpp:2321:48:   required from ‘static typename Visitor::result_type boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::internal_apply_visitor_impl(int, int, Visitor&, VoidPtrCV) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; VoidPtrCV = void*; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_; typename Visitor::result_type = void]’
/usr/include/boost/variant/variant.hpp:2335:43:   required from ‘typename Visitor::result_type boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::internal_apply_visitor(Visitor&) [with Visitor = boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_; typename Visitor::result_type = void]’
/usr/include/boost/variant/variant.hpp:2109:13:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-basic-visitors.hxx:31:34:   required from ‘static pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointDataVariant pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::run(const JointModelVariant&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointDataVariant = pinocchio::JointDataTpl<double>; pinocchio::CreateJointData<Scalar, Options, JointCollectionTpl>::JointModelVariant = boost::variant<pinocchio::JointModelRevoluteTpl<double, 0, 0>, pinocchio::JointModelRevoluteTpl<double, 0, 1>, pinocchio::JointModelRevoluteTpl<double, 0, 2>, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 0> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 1> >, pinocchio::JointModelMimic<pinocchio::JointModelRevoluteTpl<double, 0, 2> >, pinocchio::JointModelFreeFlyerTpl<double>, pinocchio::JointModelPlanarTpl<double>, pinocchio::JointModelRevoluteUnalignedTpl<double>, pinocchio::JointModelSphericalTpl<double>, pinocchio::JointModelSphericalZYXTpl<double>, pinocchio::JointModelPrismaticTpl<double, 0, 0>, pinocchio::JointModelPrismaticTpl<double, 0, 1>, pinocchio::JointModelPrismaticTpl<double, 0, 2>, pinocchio::JointModelPrismaticUnalignedTpl<double>, pinocchio::JointModelTranslationTpl<double>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointModelRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointModelRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointModelCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-basic-visitors.hxx:38:67:   required from ‘pinocchio::JointDataTpl<Scalar, Options, JointCollectionTpl> pinocchio::createData(const pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/multibody/joint/joint-generic.hpp:202:72:   required from ‘pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::JointDataDerived pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::createData() const [with _Scalar = double; int _Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; pinocchio::JointModelTpl<Scalar, Options, JointCollectionTpl>::JointDataDerived = pinocchio::JointDataTpl<double>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/algorithm/model.hxx:364:19:   required from ‘void pinocchio::buildReducedModel(const pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&, std::vector<long unsigned int>, const Eigen::MatrixBase<Matrix3Like>&, pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; ConfigVectorType = Eigen::Matrix<double, -1, 1>]’
/home/apollo/Laas/pinocchio/build/include/pinocchio/algorithm/model.hpp:119:22:   required from ‘pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl> pinocchio::buildReducedModel(const pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&, const std::vector<long unsigned int>&, const Eigen::MatrixBase<Matrix3Like>&) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; ConfigVectorType = Eigen::Matrix<double, -1, 1>]’
/home/apollo/Laas/pinocchio/bindings/python/algorithm/expose-model.cpp:98:27:   required from here
/usr/include/boost/variant/variant.hpp:2058:13: error: no matching function for call to ‘boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::move_assigner::assign_impl(pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>&, nothrow_copy, nothrow_move_constructor, boost::variant<pinocchio::JointDataRevoluteTpl<double, 0, 0>, pinocchio::JointDataRevoluteTpl<double, 0, 1>, pinocchio::JointDataRevoluteTpl<double, 0, 2>, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >, pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >, pinocchio::JointDataFreeFlyerTpl<double>, pinocchio::JointDataPlanarTpl<double>, pinocchio::JointDataRevoluteUnalignedTpl<double>, pinocchio::JointDataSphericalTpl<double>, pinocchio::JointDataSphericalZYXTpl<double>, pinocchio::JointDataPrismaticTpl<double, 0, 0>, pinocchio::JointDataPrismaticTpl<double, 0, 1>, pinocchio::JointDataPrismaticTpl<double, 0, 2>, pinocchio::JointDataPrismaticUnalignedTpl<double>, pinocchio::JointDataTranslationTpl<double>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>, pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>, pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>, boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_, boost::detail::variant::void_>::has_fallback_type_)’
/usr/include/boost/variant/variant.hpp:1959:14: note: candidate: ‘template<class RhsT, class B1, class B2> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::true_, mpl_::false_, B2) [with RhsT = RhsT; B1 = B1; B2 = B2; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1959 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1959:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   couldn’t deduce template parameter ‘B1’
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1978:14: note: candidate: ‘template<class RhsT, class B> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::true_, mpl_::true_, B) [with RhsT = RhsT; B = B; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1978 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1978:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_move_constructor()’ (type ‘nothrow_move_constructor’ {aka ‘boost::integral_constant<bool, false>’}) to type ‘mpl_::true_’ {aka ‘mpl_::bool_<true>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1997:14: note: candidate: ‘template<class RhsT> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(RhsT&, mpl_::false_, mpl_::false_, mpl_::true_) [with RhsT = RhsT; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 1997 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:1997:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_copy()’ (type ‘nothrow_copy’ {aka ‘mpl_::bool_<true>’}) to type ‘mpl_::false_’ {aka ‘mpl_::bool_<false>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:2033:14: note: candidate: ‘template<class RhsT> void boost::variant<T0, T1, T2, T3, T4, T5, T6, T7, T8, T9, T10, T11, T12, T13, T14, T15, T16, T17, T18, T19, T20, T21, T22, T23, T24, T25, T26, T27, T28, T29>::move_assigner::assign_impl(const RhsT&, mpl_::false_, mpl_::false_, mpl_::false_) [with RhsT = RhsT; T0_ = pinocchio::JointDataRevoluteTpl<double, 0, 0>; T1 = pinocchio::JointDataRevoluteTpl<double, 0, 1>; T2 = pinocchio::JointDataRevoluteTpl<double, 0, 2>; T3 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 0> >; T4 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 1> >; T5 = pinocchio::JointDataMimic<pinocchio::JointDataRevoluteTpl<double, 0, 2> >; T6 = pinocchio::JointDataFreeFlyerTpl<double>; T7 = pinocchio::JointDataPlanarTpl<double>; T8 = pinocchio::JointDataRevoluteUnalignedTpl<double>; T9 = pinocchio::JointDataSphericalTpl<double>; T10 = pinocchio::JointDataSphericalZYXTpl<double>; T11 = pinocchio::JointDataPrismaticTpl<double, 0, 0>; T12 = pinocchio::JointDataPrismaticTpl<double, 0, 1>; T13 = pinocchio::JointDataPrismaticTpl<double, 0, 2>; T14 = pinocchio::JointDataPrismaticUnalignedTpl<double>; T15 = pinocchio::JointDataTranslationTpl<double>; T16 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 0>; T17 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 1>; T18 = pinocchio::JointDataRevoluteUnboundedTpl<double, 0, 2>; T19 = pinocchio::JointDataRevoluteUnboundedUnalignedTpl<double>; T20 = boost::recursive_wrapper<pinocchio::JointDataCompositeTpl<double> >; T21 = boost::detail::variant::void_; T22 = boost::detail::variant::void_; T23 = boost::detail::variant::void_; T24 = boost::detail::variant::void_; T25 = boost::detail::variant::void_; T26 = boost::detail::variant::void_; T27 = boost::detail::variant::void_; T28 = boost::detail::variant::void_; T29 = boost::detail::variant::void_]’
 2033 |         void assign_impl(
      |              ^~~~~~~~~~~
/usr/include/boost/variant/variant.hpp:2033:14: note:   template argument deduction/substitution failed:
/usr/include/boost/variant/variant.hpp:2058:13: note:   cannot convert ‘nothrow_copy()’ (type ‘nothrow_copy’ {aka ‘mpl_::bool_<true>’}) to type ‘mpl_::false_’ {aka ‘mpl_::bool_<false>’}
 2058 |             assign_impl(
      |             ^~~~~~~~~~~
make[2]: *** [bindings/python/CMakeFiles/pinocchio_pywrap.dir/algorithm/expose-model.cpp.o] Error 1
make[1]: *** [bindings/python/CMakeFiles/pinocchio_pywrap.dir/all] Error 2
make: *** [all] Error 2