compilation error for C++ casadi pinocchio::difference about pinocchio HOT 3 CLOSED

#include "pinocchio/autodiff/casadi.hpp"

#include "pinocchio/algorithm/rnea.hpp"
#include "pinocchio/algorithm/rnea-derivatives.hpp"
#include "pinocchio/algorithm/aba.hpp"
#include "pinocchio/algorithm/aba-derivatives.hpp"
#include "pinocchio/algorithm/joint-configuration.hpp"

#include "pinocchio/parsers/sample-models.hpp"

#include <casadi/casadi.hpp>

using namespace casadi;
namespace pin = pinocchio;


int main() {

  typedef double Scalar;
  typedef casadi::SX ADScalar;
  
  typedef pinocchio::ModelTpl<Scalar> Model;
  typedef Model::Data Data;
  
  typedef pinocchio::ModelTpl<ADScalar> ADModel;
  typedef ADModel::Data ADData;
  
  Model model;
  pinocchio::buildModels::humanoidRandom(model);
  typedef ADModel::ConfigVectorType ConfigVectorAD;
  ADModel ad_model = model.cast<ADScalar>();
  ADData ad_data(ad_model);

  casadi::SX cs_q = casadi::SX::sym("q", model.nq);
  casadi::SX cs_q1 = casadi::SX::sym("q1", model.nq);
  casadi::SX cs_v_int = casadi::SX::sym("v_inc", model.nv);
  typedef Model::ConfigVectorType ConfigVector;
  typedef Model::TangentVectorType TangentVector;
  ConfigVectorAD q_ad(model.nq),q_ad1(model.nq), v_int_ad(model.nv), q_int_ad(model.nq), v_diff_ad(model.nv);
  q_ad = Eigen::Map<ConfigVectorAD>(static_cast< std::vector<ADScalar> >(cs_q).data(),model.nq,1);
  v_int_ad = Eigen::Map<ConfigVectorAD>(static_cast< std::vector<ADScalar> >(cs_v_int).data(),model.nv,1);

  q_ad1 = Eigen::Map<ConfigVectorAD>(static_cast< std::vector<ADScalar> >(cs_q1).data(),model.nq,1);
  
  pinocchio::integrate(ad_model,q_ad,v_int_ad,q_int_ad);
  pinocchio::difference(ad_model, q_ad, q_ad1, v_diff_ad);

  return 0;
}