Ошибка сообщения об ошибке компилятора: ожидается «)» перед маркером «*». Ошибка с моим конструктором

Я продолжаю получать следующую ошибку компилятора

В файле из
/home/armon/Development/groovy_workspace/sandbox/smart_wheelchair/trunk/smart_wheelchair/state_machine_planner/src/BasicControllerState.cpp:1:0:
/home/armon/Development/groovy_workspace/sandbox/smart_wheelchair/trunk/smart_wheelchair/state_machine_planner/include/state_machine_planner/BasicControllerState.h:38:49:
ошибка: ожидается ‘)’ до токена ‘*’
/home/armon/Development/groovy_workspace/sandbox/smart_wheelchair/trunk/smart_wheelchair/state_machine_planner/src/BasicControllerState.cpp:4:44:
ошибка: ожидаемый конструктор, деструктор или преобразование типов перед ‘(’
токен в файле из
/home/armon/Development/groovy_workspace/sandbox/smart_wheelchair/trunk/smart_wheelchair/state_machine_planner/include/state_machine_planner/StateMachinePlanner.h:16:0,
из /home/armon/Development/groovy_workspace/sandbox/smart_wheelchair/trunk/smart_wheelchair/state_machine_planner/src/ControllerNode.cpp:4:
/home/armon/Development/groovy_workspace/sandbox/smart_wheelchair/trunk/smart_wheelchair/state_machine_planner/include/state_machine_planner/BasicControllerState.h:38:49:
ошибка: ожидается ‘)’ до ‘Сделайте токен [3]:
[CMakeFiles / state_machine_planner.dir / SRC / BasicControllerState.cpp.o] Ошибка 1 сделать [3]: * В ожидании незавершенных работ …. В файле
включены из
/home/armon/Development/groovy_workspace/sandbox/smart_wheelchair/trunk/smart_wheelchair/state_machine_planner/include/state_machine_planner/StateMachinePlanner.h:16:0,
из /home/armon/Development/groovy_workspace/sandbox/smart_wheelchair/trunk/smart_wheelchair/state_machine_planner/src/StateMachinePlanner.cpp:1:
/home/armon/Development/groovy_workspace/sandbox/smart_wheelchair/trunk/smart_wheelchair/state_machine_planner/include/state_machine_planner/BasicControllerState.h:38:49:
ошибка: ожидается ‘)’ до токена ‘*’
/home/armon/Development/groovy_workspace/sandbox/smart_wheelchair/trunk/smart_wheelchair/state_machine_planner/src/StateMachinePlanner.cpp:
В конструкторе
«State_machine_planner :: StateMachinePlanner :: StateMachinePlanner ()»:
/home/armon/Development/groovy_workspace/sandbox/smart_wheelchair/trunk/smart_wheelchair/state_machine_planner/src/StateMachinePlanner.cpp:9:30:
ошибка: нет совпадения для вызова
«(State_machine_planner :: BasicControllerState)
(costmap_2d :: Costmap2DROS *&)»

BasicControllerState является членом StateMachinePlanner

вот код,

BasicControllerState.h (соответствующая часть):

class BasicControllerState {
public:
BasicControllerState(){}
BasicControllerState(costmap_2d::costmap2DROS* costmap_ros);

BasicControllerState.cpp:

#include <state_machine_planner/BasicControllerState.h>

namespace state_machine_planner {
BasicControllerState::BasicControllerState(costmap_2d::costmap2DROS* costmap_ros) {
//init trajectory parameters specific to what state the child class     represents

//init sim_time_ and sim_granularity_
//init sample space limits
//init best_score_thresh_

obstacle_dist_cost_gain_ = 0.1;
heading_diff_cost_gain_ = 0.0;
linear_vel_cost_gain_ = 0.0;
omega_cost_gain_ = 0.0;

num_of_linvel_samples_ = 20;
num_of_angvel_smaples_ = 40;

costmap_ros_ = costmap_ros;
costmap_ros_->getCostmapCopy(costmap_);
robot_footprint_ = costmap_ros_->getRobotFootprint();
world_model_ = new base_local_planner::CostmapModel(costmap_);
}

StateMachinePlanner.h:

class StateMachinePlanner
{
public:
StateMachinePlanner();
void init(int latency_command_queue_size, vel_params_struct vps, time_params_struct tps);
void setKey(key_command_t key);
geometry_msgs::Twist computeVelocityCommands();
private:
std::deque<Eigen::Vector2f> latency_command_queue_;
int latency_command_queue_size_;
vel_params_struct velocity_parameters_;
time_params_struct time_parameters_;
navigation_state_t current_state_;
key_command_t key_command_;
tf::TransformListener* tf_;
costmap_2d::Costmap2DROS* costmap_ros_;
costmap_2d::Costmap2D costmap_;

BasicControllerState forward_state_;

StateMachinePlanner.cpp (где я его создаю):

namespace state_machine_planner {

StateMachinePlanner::StateMachinePlanner() : tf_(NULL), costmap_ros_(NULL) {
tf_ = new tf::TransformListener(ros::Duration(10));
costmap_ros_ = new costmap_2d::Costmap2DROS("costmap",*tf_);
costmap_ros_->getCostmapCopy(costmap_);
forward_state_(costmap_ros_);
}

Простите, я знаю, что это может показаться тривиальным, но я надеялся найти мастера c ++, который выручил бы меня. Потратили слишком много времени на эту одну проблему.