Fancy robot model generated code cannot instantiate a corresponding system

[mustang66ytz]

I am following the ct rbd tutorial to generate code for Fancy robot, whose .kindsl and .tdtsl files are provided in the robcogen.
When I am instantiating my robot system with this line of code: std::shared_ptr<MyRobotNonLinearSystem> myrobot(new MyRobotNonLinearSystem());, I got the following errors:

/home/robot-control/ct_ws/devel/include/ct/iit/rbd/robcogen_commons.h: In instantiation of ‘void iit::rbd::ctransform_Ia_prismatic(iit::rbd::MatrixBase&, iit::rbd::MatrixBase&, iit::rbd::MatrixBase&) [with D1 = Eigen::Matrix<CppAD::AD<CppAD::cg::CG >, 6, 6, 0, 6, 6>; D2 = Eigen::Matrix<CppAD::AD<CppAD::cg::CG >, 6, 6, 0, 6, 6>; D3 = Eigen::Matrix<CppAD::AD<CppAD::cg::CG >, 6, 6, 0, 6, 6>; iit::rbd::MatrixBase = Eigen::MatrixBase<Eigen::Matrix<CppAD::AD<CppAD::cg::CG >, 6, 6, 0, 6, 6> >; iit::rbd::MatrixBase = Eigen::MatrixBase<Eigen::Matrix<CppAD::AD<CppAD::cg::CG >, 6, 6, 0, 6, 6> >; iit::rbd::MatrixBase = Eigen::MatrixBase<Eigen::Matrix<CppAD::AD<CppAD::cg::CG >, 6, 6, 0, 6, 6> >]’:
/home/robot-control/ct_ws/src/control-toolbox/ct_models/include/ct/models/my_robot/generated/forward_dynamics.impl.h:131:28: required from ‘void iit::Fancy::dyn::tpl::ForwardDynamics::fd(iit::Fancy::dyn::tpl::ForwardDynamics::JointState&, const JointState&, const JointState&, const ExtForces&) [with TRAIT = ct::core::internal::CppADCodegenTrait; iit::Fancy::dyn::tpl::ForwardDynamics::JointState = Eigen::Matrix<CppAD::AD<CppAD::cg::CG >, 5, 1, 0, 5, 1>; typename TRAIT::Scalar = CppAD::AD<CppAD::cg::CG >; iit::Fancy::dyn::tpl::ForwardDynamics::ExtForces = iit::Fancy::LinkDataMap<Eigen::Matrix<CppAD::AD<CppAD::cg::CG >, 6, 1, 0, 6, 1> >; typename iit::rbd::Core::ForceVector = Eigen::Matrix<CppAD::AD<CppAD::cg::CG >, 6, 1, 0, 6, 1>]’
/home/robot-control/ct_ws/src/control-toolbox/ct_models/include/ct/models/my_robot/generated/forward_dynamics.h:162:7: required from ‘void iit::Fancy::dyn::tpl::ForwardDynamics::fd(iit::Fancy::dyn::tpl::ForwardDynamics::JointState&, const JointState&, const JointState&, const JointState&, const ExtForces&) [with TRAIT = ct::core::internal::CppADCodegenTrait; iit::Fancy::dyn::tpl::ForwardDynamics::JointState = Eigen::Matrix<CppAD::AD<CppAD::cg::CG >, 5, 1, 0, 5, 1>; typename TRAIT::Scalar = CppAD::AD<CppAD::cg::CG >; iit::Fancy::dyn::tpl::ForwardDynamics::ExtForces = iit::Fancy::LinkDataMap<Eigen::Matrix<CppAD::AD<CppAD::cg::CG >, 6, 1, 0, 6, 1> >; typename iit::rbd::Core::ForceVector = Eigen::Matrix<CppAD::AD<CppAD::cg::CG >, 6, 1, 0, 6, 1>]’
/home/robot-control/ct_ws/devel/include/ct/rbd/robot/Dynamics.h:255:5: required from ‘typename std::enable_if<(! B), void>::type ct::rbd::Dynamics<RBD, NEE>::FixBaseForwardDynamics(const JointState_t&, const control_vector_t&, ct::rbd::Dynamics<RBD, NEE>::ExtLinkForces_t&, ct::rbd::Dynamics<RBD, NEE>::JointAcceleration_t&) [with bool B = false; RBD = ct::rbd::RobCoGenContainer<iit::Fancy::tpl::Traits<CppAD::AD<CppAD::cg::CG > >, iit::Fancy::LinkDataMap, ct::rbd::MyRobot::Utils<CppAD::AD<CppAD::cg::CG > > >; long unsigned int NEE = 1; typename std::enable_if<(! B), void>::type = void; ct::rbd::Dynamics<RBD, NEE>::JointState_t = ct::rbd::JointState<5, CppAD::AD<CppAD::cg::CG > >; typename RBD::SCALAR = CppAD::AD<CppAD::cg::CG >; ct::rbd::Dynamics<RBD, NEE>::control_vector_t = Eigen::Matrix<CppAD::AD<CppAD::cg::CG >, 5, 1, 0, 5, 1>; ct::rbd::Dynamics<RBD, NEE>::ExtLinkForces_t = iit::Fancy::LinkDataMap<Eigen::Matrix<CppAD::AD<CppAD::cg::CG >, 6, 1, 0, 6, 1> >; ct::rbd::Dynamics<RBD, NEE>::JointAcceleration_t = ct::rbd::JointAcceleration<5, CppAD::AD<CppAD::cg::CG > >]’
/home/robot-control/ct_ws/devel/include/ct/rbd/systems/FixBaseFDSystem.h:123:9: required from ‘void ct::rbd::FixBaseFDSystem<RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS>::computeControlledDynamics(const state_vector_t&, const SCALAR&, const control_vector_t&, ct::rbd::FixBaseFDSystem<RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS>::state_vector_t&) [with RBDDynamics = ct::rbd::Dynamics<ct::rbd::RobCoGenContainer<iit::Fancy::tpl::Traits<CppAD::AD<CppAD::cg::CG > >, iit::Fancy::LinkDataMap, ct::rbd::MyRobot::Utils<CppAD::AD<CppAD::cg::CG > > >, 1>; long unsigned int ACT_STATE_DIM = 0; bool EE_ARE_CONTROL_INPUTS = false; ct::rbd::FixBaseFDSystem<RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS>::state_vector_t = ct::core::StateVector<10, CppAD::AD<CppAD::cg::CG > >; ct::rbd::FixBaseFDSystem<RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS>::SCALAR = CppAD::AD<CppAD::cg::CG >; ct::rbd::FixBaseFDSystem<RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS>::control_vector_t = ct::core::ControlVector<5, CppAD::AD<CppAD::cg::CG > >]’
/home/robot-control/ct_ws/src/control-toolbox/ct_models/src/my_robot/codegen/simple_test.cpp:42:1: required from here
/home/robot-control/ct_ws/devel/include/ct/iit/rbd/robcogen_commons.h:479:42: error: no matching function for call to ‘iit::rbd::internal::Mat3x3Coefficients<CppAD::AD<CppAD::cg::CG > >::Mat3x3Coefficients(const CppAD::AD<CppAD::cg::CG >&, const CppAD::AD<CppAD::cg::CG >&, int, const CppAD::AD<CppAD::cg::CG >&, const CppAD::AD<CppAD::cg::CG >&, int, const CppAD::AD<CppAD::cg::CG >&, const CppAD::AD<CppAD::cg::CG >&, int)’
internal::Mat3x3Coefficients C(
^
compilation terminated due to -Wfatal-errors.

MyRobot.h file is like this:

#pragma once
#include <Eigen/Core>
#include <Eigen/StdVector>
#include "generated/declarations.h"
#include "generated/jsim.h"
#include "generated/jacobians.h"
#include "generated/traits.h"
#include "generated/forward_dynamics.h"
#include "generated/inertia_properties.h"
#include "generated/inverse_dynamics.h"
#include "generated/transforms.h"
#include "generated/link_data_map.h"
// define namespace and base
#define ROBCOGEN_NS Fancy
#define TARGET_NS MyRobot
// define the links
#define CT_BASE fr_base0
#define CT_L0 fr_link1
#define CT_L1 fr_link2
#define CT_L2 fr_link3
#define CT_L3 fr_link4
#define CT_L4 fr_link5

// define single end effector (could also be multiple)
#define CT_N_EE 1
#define CT_EE0 ee
#define CT_EE0_IS_ON_LINK 5
#define CT_EE0_FIRST_JOINT 0
#define CT_EE0_LAST_JOINT 4
#include <ct/rbd/robot/robcogen/robcogenHelpers.h>

Since I am using the Fancy model provided by the RobCoGen, I suspect that should be correct, but why this error occurred?
Thanks for any suggestions!!