Using basilisk cpp modules as base classes

[gjaju313]

Made a custom module ImuSensor_new to add features to ImuSensor modules of Basilisk. ImuSensor_new is a derived class of ImuSensor. I have added the neccesary include paths.

#include "simulation/sensors/imuSensor/imuSensor.h"
#include <Eigen/Dense> 

class ImuSensor_new: public ImuSensor {
public:
    ImuSensor_new();

    void Reset(uint64_t CurrentSimNanos);
    void UpdateState(uint64_t CurrentSimNanos);

It builds, but I am getting error of undefined symbol for all ImuSensor symbols when using generated IMU module

Traceback (most recent call last):
  File "ExternalModules/IMU/_UnitTest/test_IMU.py", line 15, in <module>
    from Basilisk.ExternalModules import IMU
  File "basilisk/dist3/Basilisk/ExternalModules/IMU.py", line 18, in <module>
    from . import _IMU
ImportError: basilisk/dist3/Basilisk/ExternalModules/_IMU.so: undefined symbol: _ZTI9ImuSensor

Are there some build rules which only allow modules to use files from _GeneralModuleFiles and not from other modules ??

[Julian-Guinane]

When making a derived class like this I have run into the same issue and solved by including the source file of the parent class in the source file of the derived class.
That would mean including

#include "simulation/sensors/imuSensor/imuSensor.cpp"

in your ImuSensor_new.cpp file.

I would be keen to know if there is a better fix,