Warning: Permanently added '2620:52:3:1:dead:beef:cafe:c18d' (ED25519) to the list of known hosts.

You can reproduce this build on your computer by running:

  sudo dnf install copr-rpmbuild
  /usr/bin/copr-rpmbuild --verbose --drop-resultdir --task-url https://copr.fedorainfracloud.org/backend/get-build-task/8224464-fedora-41-x86_64 --chroot fedora-41-x86_64


Version: 1.1
PID: 9124
Logging PID: 9125
Task:
{'allow_user_ssh': False,
 'appstream': False,
 'background': False,
 'bootstrap': 'off',
 'build_id': 8224464,
 'buildroot_pkgs': [],
 'chroot': 'fedora-41-x86_64',
 'enable_net': False,
 'fedora_review': False,
 'git_hash': 'c028a491213728cb89e7792eccaef3704ad3f5d8',
 'git_repo': 'https://copr-dist-git.fedorainfracloud.org/git/iucar/cran/R-CRAN-imuf',
 'isolation': 'default',
 'memory_reqs': 2048,
 'package_name': 'R-CRAN-imuf',
 'package_version': '0.3.0-1.copr8224464',
 'project_dirname': 'cran',
 'project_name': 'cran',
 'project_owner': 'iucar',
 'repo_priority': None,
 'repos': [{'baseurl': 'https://download.copr.fedorainfracloud.org/results/iucar/cran/fedora-41-x86_64/',
            'id': 'copr_base',
            'name': 'Copr repository',
            'priority': None}],
 'sandbox': 'iucar/cran--iucar',
 'source_json': {},
 'source_type': None,
 'ssh_public_keys': None,
 'storage': None,
 'submitter': 'iucar',
 'tags': [],
 'task_id': '8224464-fedora-41-x86_64',
 'timeout': 18000,
 'uses_devel_repo': False,
 'with_opts': [],
 'without_opts': []}

Running: git clone https://copr-dist-git.fedorainfracloud.org/git/iucar/cran/R-CRAN-imuf /var/lib/copr-rpmbuild/workspace/workdir-0f9qc9bh/R-CRAN-imuf --depth 500 --no-single-branch --recursive

cmd: ['git', 'clone', 'https://copr-dist-git.fedorainfracloud.org/git/iucar/cran/R-CRAN-imuf', '/var/lib/copr-rpmbuild/workspace/workdir-0f9qc9bh/R-CRAN-imuf', '--depth', '500', '--no-single-branch', '--recursive']
cwd: .
rc: 0
stdout: 
stderr: Cloning into '/var/lib/copr-rpmbuild/workspace/workdir-0f9qc9bh/R-CRAN-imuf'...

Running: git checkout c028a491213728cb89e7792eccaef3704ad3f5d8 --

cmd: ['git', 'checkout', 'c028a491213728cb89e7792eccaef3704ad3f5d8', '--']
cwd: /var/lib/copr-rpmbuild/workspace/workdir-0f9qc9bh/R-CRAN-imuf
rc: 0
stdout: 
stderr: Note: switching to 'c028a491213728cb89e7792eccaef3704ad3f5d8'.

You are in 'detached HEAD' state. You can look around, make experimental
changes and commit them, and you can discard any commits you make in this
state without impacting any branches by switching back to a branch.

If you want to create a new branch to retain commits you create, you may
do so (now or later) by using -c with the switch command. Example:

  git switch -c <new-branch-name>

Or undo this operation with:

  git switch -

Turn off this advice by setting config variable advice.detachedHead to false

HEAD is now at c028a49 automatic import of R-CRAN-imuf

Running: dist-git-client sources

cmd: ['dist-git-client', 'sources']
cwd: /var/lib/copr-rpmbuild/workspace/workdir-0f9qc9bh/R-CRAN-imuf
rc: 0
stdout: 
stderr: INFO: Reading stdout from command: git rev-parse --abbrev-ref HEAD
INFO: Reading stdout from command: git rev-parse HEAD
INFO: Reading sources specification file: sources
INFO: Downloading imuf_0.3.0.tar.gz
INFO: Reading stdout from command: curl --help all
INFO: Calling: curl -H Pragma: -o imuf_0.3.0.tar.gz --location --connect-timeout 60 --retry 3 --retry-delay 10 --remote-time --show-error --fail --retry-all-errors https://copr-dist-git.fedorainfracloud.org/repo/pkgs/iucar/cran/R-CRAN-imuf/imuf_0.3.0.tar.gz/md5/7a80785fe062c7bd8080f85533aa3421/imuf_0.3.0.tar.gz
  % Total    % Received % Xferd  Average Speed   Time    Time     Time  Current
                                 Dload  Upload   Total   Spent    Left  Speed
100 27141  100 27141    0     0   455k      0 --:--:-- --:--:-- --:--:--  456k
INFO: Reading stdout from command: md5sum imuf_0.3.0.tar.gz

/usr/bin/tail: /var/lib/copr-rpmbuild/main.log: file truncated
Running (timeout=18000): unbuffer mock --spec /var/lib/copr-rpmbuild/workspace/workdir-0f9qc9bh/R-CRAN-imuf/R-CRAN-imuf.spec --sources /var/lib/copr-rpmbuild/workspace/workdir-0f9qc9bh/R-CRAN-imuf --resultdir /var/lib/copr-rpmbuild/results --uniqueext 1730943816.197371 -r /var/lib/copr-rpmbuild/results/configs/child.cfg
INFO: mock.py version 5.9 starting (python version = 3.12.1, NVR = mock-5.9-1.fc39), args: /usr/libexec/mock/mock --spec /var/lib/copr-rpmbuild/workspace/workdir-0f9qc9bh/R-CRAN-imuf/R-CRAN-imuf.spec --sources /var/lib/copr-rpmbuild/workspace/workdir-0f9qc9bh/R-CRAN-imuf --resultdir /var/lib/copr-rpmbuild/results --uniqueext 1730943816.197371 -r /var/lib/copr-rpmbuild/results/configs/child.cfg
Start: init plugins
INFO: tmpfs initialized
INFO: selinux enabled
INFO: chroot_scan: initialized
INFO: compress_logs: initialized
Finish: init plugins
INFO: Signal handler active
Start: run
INFO: Start(/var/lib/copr-rpmbuild/workspace/workdir-0f9qc9bh/R-CRAN-imuf/R-CRAN-imuf.spec)  Config(fedora-41-x86_64)
Start: clean chroot
Finish: clean chroot
Mock Version: 5.9
INFO: Mock Version: 5.9
Start: chroot init
INFO: mounting tmpfs at /var/lib/mock/fedora-41-x86_64-1730943816.197371/root.
INFO: calling preinit hooks
INFO: enabled root cache
INFO: enabled package manager cache
Start: cleaning package manager metadata
Finish: cleaning package manager metadata
INFO: enabled HW Info plugin
INFO: Package manager dnf5 detected and used (fallback)
INFO: Buildroot is handled by package management from host and used with --installroot:
  rpm-4.19.1.1-1.fc39.x86_64
  rpm-sequoia-1.6.0-1.fc39.x86_64
  python3-dnf-4.21.1-1.fc39.noarch
  python3-dnf-plugins-core-4.9.0-1.fc39.noarch
  yum-4.21.1-1.fc39.noarch
  dnf5-5.1.17-2.fc39.x86_64
  dnf5-plugins-5.1.17-2.fc39.x86_64
Start: installing minimal buildroot with dnf5
Updating and loading repositories:
 updates                                100% | 974.7 KiB/s |  29.2 KiB |  00m00s
 fedora                                 100% | 923.1 KiB/s |  26.8 KiB |  00m00s
 Copr repository                        100% |  25.6 KiB/s |   1.5 KiB |  00m00s
 Copr repository                        100% |  21.2 MiB/s |  12.2 MiB |  00m01s
Repositories loaded.
Package                            Arch   Version                     Repository      Size
Installing group/module packages:                                                         
 bash                              x86_64 5.2.32-1.fc41               fedora       8.2 MiB
 bzip2                             x86_64 1.0.8-19.fc41               fedora      95.7 KiB
 coreutils                         x86_64 9.5-10.fc41                 fedora       5.6 MiB
 cpio                              x86_64 2.15-2.fc41                 fedora       1.1 MiB
 diffutils                         x86_64 3.10-8.fc41                 fedora       1.6 MiB
 fedora-release-common             noarch 41-27                       updates     19.6 KiB
 findutils                         x86_64 1:4.10.0-4.fc41             fedora       1.8 MiB
 gawk                              x86_64 5.3.0-4.fc41                fedora       1.7 MiB
 glibc-minimal-langpack            x86_64 2.40-9.fc41                 updates      0.0   B
 grep                              x86_64 3.11-9.fc41                 fedora       1.0 MiB
 gzip                              x86_64 1.13-2.fc41                 fedora     389.0 KiB
 info                              x86_64 7.1-3.fc41                  fedora     361.8 KiB
 patch                             x86_64 2.7.6-25.fc41               fedora     266.7 KiB
 redhat-rpm-config                 noarch 293-1.fc41                  fedora     183.5 KiB
 rpm-build                         x86_64 4.20.0-1.fc41               fedora     194.3 KiB
 sed                               x86_64 4.9-3.fc41                  fedora     861.5 KiB
 shadow-utils                      x86_64 2:4.15.1-12.fc41            fedora       4.1 MiB
 tar                               x86_64 2:1.35-4.fc41               fedora       2.9 MiB
 unzip                             x86_64 6.0-64.fc41                 fedora     386.8 KiB
 util-linux                        x86_64 2.40.2-4.fc41               fedora       3.7 MiB
 which                             x86_64 2.21-42.fc41                fedora      80.2 KiB
 xz                                x86_64 1:5.6.2-2.fc41              fedora       1.2 MiB
Installing dependencies:                                                                  
 add-determinism                   x86_64 0.3.6-1.fc41                fedora       2.2 MiB
 alternatives                      x86_64 1.30-1.fc41                 fedora      66.3 KiB
 ansible-srpm-macros               noarch 1-16.fc41                   fedora      35.7 KiB
 audit-libs                        x86_64 4.0.2-1.fc41                fedora     331.3 KiB
 authselect                        x86_64 1.5.0-8.fc41                fedora     157.6 KiB
 authselect-libs                   x86_64 1.5.0-8.fc41                fedora     822.2 KiB
 basesystem                        noarch 11-21.fc41                  fedora       0.0   B
 binutils                          x86_64 2.43.1-2.fc41               fedora      27.5 MiB
 build-reproducibility-srpm-macros noarch 0.3.6-1.fc41                fedora     735.0   B
 bzip2-libs                        x86_64 1.0.8-19.fc41               fedora      80.7 KiB
 ca-certificates                   noarch 2024.2.69_v8.0.401-1.0.fc41 fedora       2.4 MiB
 coreutils-common                  x86_64 9.5-10.fc41                 fedora      11.2 MiB
 cracklib                          x86_64 2.9.11-6.fc41               fedora     238.9 KiB
 crypto-policies                   noarch 20241029-1.git8baf557.fc41  updates    136.9 KiB
 curl                              x86_64 8.9.1-2.fc41                fedora     796.2 KiB
 cyrus-sasl-lib                    x86_64 2.1.28-27.fc41              fedora       2.3 MiB
 debugedit                         x86_64 5.1-1.fc41                  updates    199.8 KiB
 dwz                               x86_64 0.15-8.fc41                 fedora     298.9 KiB
 ed                                x86_64 1.20.2-2.fc41               fedora     146.9 KiB
 efi-srpm-macros                   noarch 5-12.fc41                   fedora      40.1 KiB
 elfutils                          x86_64 0.192-5.fc41                updates      2.7 MiB
 elfutils-debuginfod-client        x86_64 0.192-5.fc41                updates     84.2 KiB
 elfutils-default-yama-scope       noarch 0.192-5.fc41                updates      1.8 KiB
 elfutils-libelf                   x86_64 0.192-5.fc41                updates      1.2 MiB
 elfutils-libs                     x86_64 0.192-5.fc41                updates    666.3 KiB
 fedora-gpg-keys                   noarch 41-1                        fedora     126.4 KiB
 fedora-release                    noarch 41-27                       updates      0.0   B
 fedora-release-identity-basic     noarch 41-27                       updates    682.0   B
 fedora-repos                      noarch 41-1                        fedora       4.9 KiB
 file                              x86_64 5.45-7.fc41                 fedora     103.5 KiB
 file-libs                         x86_64 5.45-7.fc41                 fedora       9.9 MiB
 filesystem                        x86_64 3.18-23.fc41                fedora     106.0   B
 fonts-srpm-macros                 noarch 1:2.0.5-17.fc41             fedora      55.8 KiB
 forge-srpm-macros                 noarch 0.3.2-1.fc41                fedora      39.0 KiB
 fpc-srpm-macros                   noarch 1.3-13.fc41                 fedora     144.0   B
 gdb-minimal                       x86_64 15.2-1.fc41                 updates     13.0 MiB
 gdbm                              x86_64 1:1.23-7.fc41               fedora     460.9 KiB
 gdbm-libs                         x86_64 1:1.23-7.fc41               fedora     121.9 KiB
 ghc-srpm-macros                   noarch 1.9.1-2.fc41                fedora     747.0   B
 glibc                             x86_64 2.40-9.fc41                 updates      6.7 MiB
 glibc-common                      x86_64 2.40-9.fc41                 updates      1.0 MiB
 glibc-gconv-extra                 x86_64 2.40-9.fc41                 updates      8.0 MiB
 gmp                               x86_64 1:6.3.0-2.fc41              fedora     811.4 KiB
 gnat-srpm-macros                  noarch 6-6.fc41                    fedora       1.0 KiB
 go-srpm-macros                    noarch 3.6.0-3.fc41                fedora      60.8 KiB
 jansson                           x86_64 2.13.1-10.fc41              fedora      88.3 KiB
 json-c                            x86_64 0.17-4.fc41                 fedora      82.4 KiB
 kernel-srpm-macros                noarch 1.0-24.fc41                 fedora       1.9 KiB
 keyutils-libs                     x86_64 1.6.3-4.fc41                fedora      54.4 KiB
 krb5-libs                         x86_64 1.21.3-3.fc41               updates      2.3 MiB
 libacl                            x86_64 2.3.2-2.fc41                fedora      40.0 KiB
 libarchive                        x86_64 3.7.4-4.fc41                updates    926.6 KiB
 libattr                           x86_64 2.5.2-4.fc41                fedora      28.5 KiB
 libblkid                          x86_64 2.40.2-4.fc41               fedora     258.5 KiB
 libbrotli                         x86_64 1.1.0-5.fc41                fedora     837.6 KiB
 libcap                            x86_64 2.70-4.fc41                 fedora     220.2 KiB
 libcap-ng                         x86_64 0.8.5-3.fc41                fedora      69.2 KiB
 libcom_err                        x86_64 1.47.1-6.fc41               fedora      67.2 KiB
 libcurl                           x86_64 8.9.1-2.fc41                fedora     818.1 KiB
 libeconf                          x86_64 0.6.2-3.fc41                fedora      58.0 KiB
 libevent                          x86_64 2.1.12-14.fc41              fedora     895.7 KiB
 libfdisk                          x86_64 2.40.2-4.fc41               fedora     362.9 KiB
 libffi                            x86_64 3.4.6-3.fc41                fedora      86.4 KiB
 libgcc                            x86_64 14.2.1-3.fc41               fedora     274.6 KiB
 libgomp                           x86_64 14.2.1-3.fc41               fedora     523.5 KiB
 libidn2                           x86_64 2.3.7-2.fc41                fedora     329.1 KiB
 libmount                          x86_64 2.40.2-4.fc41               fedora     351.8 KiB
 libnghttp2                        x86_64 1.62.1-2.fc41               fedora     166.1 KiB
 libnsl2                           x86_64 2.0.1-2.fc41                fedora      57.9 KiB
 libpkgconf                        x86_64 2.3.0-1.fc41                fedora      78.2 KiB
 libpsl                            x86_64 0.21.5-4.fc41               fedora      80.5 KiB
 libpwquality                      x86_64 1.4.5-11.fc41               fedora     417.8 KiB
 libselinux                        x86_64 3.7-5.fc41                  fedora     181.0 KiB
 libsemanage                       x86_64 3.7-2.fc41                  fedora     293.5 KiB
 libsepol                          x86_64 3.7-2.fc41                  fedora     817.8 KiB
 libsmartcols                      x86_64 2.40.2-4.fc41               fedora     180.4 KiB
 libssh                            x86_64 0.10.6-8.fc41               fedora     513.3 KiB
 libssh-config                     noarch 0.10.6-8.fc41               fedora     277.0   B
 libstdc++                         x86_64 14.2.1-3.fc41               fedora       2.8 MiB
 libtasn1                          x86_64 4.19.0-9.fc41               fedora     175.7 KiB
 libtirpc                          x86_64 1.3.6-0.fc41                updates    202.7 KiB
 libtool-ltdl                      x86_64 2.4.7-12.fc41               fedora      66.2 KiB
 libunistring                      x86_64 1.1-8.fc41                  fedora       1.7 MiB
 libutempter                       x86_64 1.2.1-15.fc41               fedora      57.7 KiB
 libuuid                           x86_64 2.40.2-4.fc41               fedora      37.5 KiB
 libverto                          x86_64 0.3.2-9.fc41                fedora      29.5 KiB
 libxcrypt                         x86_64 4.4.36-7.fc41               fedora     266.8 KiB
 libxml2                           x86_64 2.12.8-2.fc41               fedora       1.7 MiB
 libzstd                           x86_64 1.5.6-2.fc41                fedora     795.9 KiB
 lua-libs                          x86_64 5.4.6-6.fc41                fedora     285.0 KiB
 lua-srpm-macros                   noarch 1-14.fc41                   fedora       1.3 KiB
 lz4-libs                          x86_64 1.10.0-1.fc41               fedora     145.5 KiB
 mpfr                              x86_64 4.2.1-5.fc41                fedora     832.1 KiB
 ncurses-base                      noarch 6.5-2.20240629.fc41         fedora     326.3 KiB
 ncurses-libs                      x86_64 6.5-2.20240629.fc41         fedora     975.2 KiB
 ocaml-srpm-macros                 noarch 10-3.fc41                   fedora       1.9 KiB
 openblas-srpm-macros              noarch 2-18.fc41                   fedora     112.0   B
 openldap                          x86_64 2.6.8-5.fc41                fedora     644.2 KiB
 openssl-libs                      x86_64 1:3.2.2-9.fc41              fedora       7.8 MiB
 p11-kit                           x86_64 0.25.5-3.fc41               fedora       2.2 MiB
 p11-kit-trust                     x86_64 0.25.5-3.fc41               fedora     391.4 KiB
 package-notes-srpm-macros         noarch 0.5-12.fc41                 fedora       1.6 KiB
 pam                               x86_64 1.6.1-6.fc41                updates      1.8 MiB
 pam-libs                          x86_64 1.6.1-6.fc41                updates    139.0 KiB
 pcre2                             x86_64 10.44-1.fc41.1              fedora     653.5 KiB
 pcre2-syntax                      noarch 10.44-1.fc41.1              fedora     251.6 KiB
 perl-srpm-macros                  noarch 1-56.fc41                   fedora     861.0   B
 pkgconf                           x86_64 2.3.0-1.fc41                fedora      88.6 KiB
 pkgconf-m4                        noarch 2.3.0-1.fc41                fedora      14.4 KiB
 pkgconf-pkg-config                x86_64 2.3.0-1.fc41                fedora     989.0   B
 popt                              x86_64 1.19-7.fc41                 fedora     136.9 KiB
 publicsuffix-list-dafsa           noarch 20240107-4.fc41             fedora      67.5 KiB
 pyproject-srpm-macros             noarch 1.15.1-1.fc41               fedora       1.9 KiB
 python-srpm-macros                noarch 3.13-3.fc41                 fedora      51.0 KiB
 qt5-srpm-macros                   noarch 5.15.15-1.fc41              fedora     500.0   B
 qt6-srpm-macros                   noarch 6.8.0-1.fc41                updates    456.0   B
 readline                          x86_64 8.2-10.fc41                 fedora     493.2 KiB
 rpm                               x86_64 4.20.0-1.fc41               fedora       3.1 MiB
 rpm-build-libs                    x86_64 4.20.0-1.fc41               fedora     206.7 KiB
 rpm-libs                          x86_64 4.20.0-1.fc41               fedora     725.9 KiB
 rpm-sequoia                       x86_64 1.7.0-2.fc41                fedora       2.4 MiB
 rust-srpm-macros                  noarch 26.3-3.fc41                 fedora       4.8 KiB
 setup                             noarch 2.15.0-5.fc41               fedora     720.7 KiB
 sqlite-libs                       x86_64 3.46.1-1.fc41               fedora       1.4 MiB
 systemd-libs                      x86_64 256.7-1.fc41                fedora       2.0 MiB
 util-linux-core                   x86_64 2.40.2-4.fc41               fedora       1.5 MiB
 xxhash-libs                       x86_64 0.8.2-4.fc41                fedora      88.4 KiB
 xz-libs                           x86_64 1:5.6.2-2.fc41              fedora     214.4 KiB
 zig-srpm-macros                   noarch 1-3.fc41                    fedora       1.1 KiB
 zip                               x86_64 3.0-41.fc41                 fedora     703.2 KiB
 zlib-ng-compat                    x86_64 2.1.7-3.fc41                fedora     134.0 KiB
 zstd                              x86_64 1.5.6-2.fc41                fedora       1.7 MiB
Installing groups:                                                                        
 Buildsystem building group                                                               

Transaction Summary:
 Installing:      154 packages

Total size of inbound packages is 53 MiB. Need to download 0 B.
After this operation 181 MiB will be used (install 181 MiB, remove 0 B).
[  1/154] tar-2:1.35-4.fc41.x86_64      100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[  2/154] bzip2-0:1.0.8-19.fc41.x86_64  100% |   0.0   B/s |   0.0   B |  00m00s
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[  3/154] redhat-rpm-config-0:293-1.fc4 100% |   0.0   B/s |   0.0   B |  00m00s
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[  4/154] rpm-build-0:4.20.0-1.fc41.x86 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[  5/154] unzip-0:6.0-64.fc41.x86_64    100% |   0.0   B/s |   0.0   B |  00m00s
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[ 11/154] patch-0:2.7.6-25.fc41.x86_64  100% |   0.0   B/s |   0.0   B |  00m00s
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[ 12/154] sed-0:4.9-3.fc41.x86_64       100% |   0.0   B/s |   0.0   B |  00m00s
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[ 13/154] shadow-utils-2:4.15.1-12.fc41 100% |   0.0   B/s |   0.0   B |  00m00s
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[ 14/154] diffutils-0:3.10-8.fc41.x86_6 100% |   0.0   B/s |   0.0   B |  00m00s
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[ 15/154] findutils-1:4.10.0-4.fc41.x86 100% |   0.0   B/s |   0.0   B |  00m00s
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[ 16/154] gzip-0:1.13-2.fc41.x86_64     100% |   0.0   B/s |   0.0   B |  00m00s
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[ 17/154] info-0:7.1-3.fc41.x86_64      100% |   0.0   B/s |   0.0   B |  00m00s
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[ 18/154] xz-1:5.6.2-2.fc41.x86_64      100% |   0.0   B/s |   0.0   B |  00m00s
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--------------------------------------------------------------------------------
[154/154] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
Running transaction
Importing PGP key 0xE99D6AD1:
 Userid     : "Fedora (41) <fedora-41-primary@fedoraproject.org>"
 Fingerprint: 466CF2D8B60BC3057AA9453ED0622462E99D6AD1
 From       : file:///usr/share/distribution-gpg-keys/fedora/RPM-GPG-KEY-fedora-41-primary
The key was successfully imported.
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>>> Running pre-transaction scriptlet: filesystem-0:3.18-23.fc41.x86_64
>>> Stop pre-transaction scriptlet: filesystem-0:3.18-23.fc41.x86_64
>>> Running pre-transaction scriptlet: crypto-policies-0:20241029-1.git8baf557.f
>>> Stop pre-transaction scriptlet: crypto-policies-0:20241029-1.git8baf557.fc41
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[  3/156] Installing libgcc-0:14.2.1-3. 100% | 134.9 MiB/s | 276.3 KiB |  00m00s
>>> Running post-install scriptlet: libgcc-0:14.2.1-3.fc41.x86_64
>>> Stop post-install scriptlet: libgcc-0:14.2.1-3.fc41.x86_64
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>>> Running post-install scriptlet: setup-0:2.15.0-5.fc41.noarch
>>> Stop post-install scriptlet: setup-0:2.15.0-5.fc41.noarch
[ 10/156] Installing filesystem-0:3.18- 100% |   1.7 MiB/s | 212.5 KiB |  00m00s
[ 11/156] Installing basesystem-0:11-21 100% |   0.0   B/s | 124.0   B |  00m00s
[ 12/156] Installing libssh-config-0:0. 100% | 796.9 KiB/s | 816.0   B |  00m00s
[ 13/156] Installing publicsuffix-list- 100% |  66.7 MiB/s |  68.3 KiB |  00m00s
[ 14/156] Installing qt6-srpm-macros-0: 100% |   0.0   B/s | 732.0   B |  00m00s
[ 15/156] Installing pkgconf-m4-0:2.3.0 100% |  14.5 MiB/s |  14.8 KiB |  00m00s
[ 16/156] Installing pcre2-syntax-0:10. 100% | 124.1 MiB/s | 254.1 KiB |  00m00s
[ 17/156] Installing ncurses-base-0:6.5 100% |  38.2 MiB/s | 351.7 KiB |  00m00s
[ 18/156] Installing glibc-minimal-lang 100% |   0.0   B/s | 124.0   B |  00m00s
[ 19/156] Installing ncurses-libs-0:6.5 100% | 159.8 MiB/s | 981.8 KiB |  00m00s
>>> Running pre-install scriptlet: glibc-0:2.40-9.fc41.x86_64
>>> Stop pre-install scriptlet: glibc-0:2.40-9.fc41.x86_64
[ 20/156] Installing glibc-0:2.40-9.fc4 100% | 142.1 MiB/s |   6.7 MiB |  00m00s
>>> Running post-install scriptlet: glibc-0:2.40-9.fc41.x86_64
>>> Stop post-install scriptlet: glibc-0:2.40-9.fc41.x86_64
[ 21/156] Installing bash-0:5.2.32-1.fc 100% | 263.5 MiB/s |   8.2 MiB |  00m00s
>>> Running post-install scriptlet: bash-0:5.2.32-1.fc41.x86_64
>>> Stop post-install scriptlet: bash-0:5.2.32-1.fc41.x86_64
[ 22/156] Installing glibc-common-0:2.4 100% | 130.8 MiB/s |   1.0 MiB |  00m00s
[ 23/156] Installing glibc-gconv-extra- 100% | 126.6 MiB/s |   8.1 MiB |  00m00s
>>> Running post-install scriptlet: glibc-gconv-extra-0:2.40-9.fc41.x86_64
>>> Stop post-install scriptlet: glibc-gconv-extra-0:2.40-9.fc41.x86_64
[ 24/156] Installing zlib-ng-compat-0:2 100% | 131.6 MiB/s | 134.8 KiB |  00m00s
[ 25/156] Installing bzip2-libs-0:1.0.8 100% |  79.9 MiB/s |  81.8 KiB |  00m00s
[ 26/156] Installing xz-libs-1:5.6.2-2. 100% | 105.2 MiB/s | 215.5 KiB |  00m00s
[ 27/156] Installing popt-0:1.19-7.fc41 100% |  35.0 MiB/s | 143.5 KiB |  00m00s
[ 28/156] Installing readline-0:8.2-10. 100% | 161.2 MiB/s | 495.3 KiB |  00m00s
[ 29/156] Installing libuuid-0:2.40.2-4 100% |  37.7 MiB/s |  38.6 KiB |  00m00s
[ 30/156] Installing libblkid-0:2.40.2- 100% | 126.7 MiB/s | 259.5 KiB |  00m00s
[ 31/156] Installing gmp-1:6.3.0-2.fc41 100% | 264.9 MiB/s | 813.7 KiB |  00m00s
[ 32/156] Installing libattr-0:2.5.2-4. 100% |  28.8 MiB/s |  29.5 KiB |  00m00s
[ 33/156] Installing libacl-0:2.3.2-2.f 100% |  39.8 MiB/s |  40.7 KiB |  00m00s
[ 34/156] Installing libxcrypt-0:4.4.36 100% | 131.6 MiB/s | 269.5 KiB |  00m00s
[ 35/156] Installing libzstd-0:1.5.6-2. 100% | 259.5 MiB/s | 797.2 KiB |  00m00s
[ 36/156] Installing elfutils-libelf-0: 100% | 234.0 MiB/s |   1.2 MiB |  00m00s
[ 37/156] Installing libstdc++-0:14.2.1 100% | 110.7 MiB/s |   2.8 MiB |  00m00s
>>> Running pre-install scriptlet: crypto-policies-0:20241029-1.git8baf557.fc41.
>>> Stop pre-install scriptlet: crypto-policies-0:20241029-1.git8baf557.fc41.noa
[ 38/156] Installing crypto-policies-0: 100% |  14.5 MiB/s | 163.3 KiB |  00m00s
>>> Running post-install scriptlet: crypto-policies-0:20241029-1.git8baf557.fc41
>>> Stop post-install scriptlet: crypto-policies-0:20241029-1.git8baf557.fc41.no
[ 39/156] Installing libeconf-0:0.6.2-3 100% |  58.3 MiB/s |  59.7 KiB |  00m00s
[ 40/156] Installing gdbm-libs-1:1.23-7 100% | 120.7 MiB/s | 123.6 KiB |  00m00s
[ 41/156] Installing dwz-0:0.15-8.fc41. 100% | 146.6 MiB/s | 300.3 KiB |  00m00s
[ 42/156] Installing mpfr-0:4.2.1-5.fc4 100% | 203.5 MiB/s | 833.7 KiB |  00m00s
[ 43/156] Installing gawk-0:5.3.0-4.fc4 100% | 173.2 MiB/s |   1.7 MiB |  00m00s
[ 44/156] Installing unzip-0:6.0-64.fc4 100% | 127.0 MiB/s | 390.3 KiB |  00m00s
[ 45/156] Installing file-libs-0:5.45-7 100% | 473.0 MiB/s |   9.9 MiB |  00m00s
[ 46/156] Installing file-0:5.45-7.fc41 100% | 102.6 MiB/s | 105.0 KiB |  00m00s
[ 47/156] Installing pcre2-0:10.44-1.fc 100% | 213.2 MiB/s | 654.9 KiB |  00m00s
[ 48/156] Installing grep-0:3.11-9.fc41 100% | 111.5 MiB/s |   1.0 MiB |  00m00s
[ 49/156] Installing xz-1:5.6.2-2.fc41. 100% | 120.5 MiB/s |   1.2 MiB |  00m00s
[ 50/156] Installing libcap-ng-0:0.8.5- 100% |  69.4 MiB/s |  71.0 KiB |  00m00s
[ 51/156] Installing audit-libs-0:4.0.2 100% | 162.8 MiB/s | 333.4 KiB |  00m00s
[ 52/156] Installing pam-libs-0:1.6.1-6 100% |  69.0 MiB/s | 141.2 KiB |  00m00s
[ 53/156] Installing libcap-0:2.70-4.fc 100% |  55.0 MiB/s | 225.2 KiB |  00m00s
[ 54/156] Installing systemd-libs-0:256 100% | 254.2 MiB/s |   2.0 MiB |  00m00s
[ 55/156] Installing libsmartcols-0:2.4 100% | 177.1 MiB/s | 181.4 KiB |  00m00s
[ 56/156] Installing libsepol-0:3.7-2.f 100% | 266.5 MiB/s | 818.8 KiB |  00m00s
[ 57/156] Installing libselinux-0:3.7-5 100% |  89.0 MiB/s | 182.3 KiB |  00m00s
[ 58/156] Installing sed-0:4.9-3.fc41.x 100% | 121.3 MiB/s | 869.7 KiB |  00m00s
[ 59/156] Installing findutils-1:4.10.0 100% | 185.8 MiB/s |   1.9 MiB |  00m00s
[ 60/156] Installing libmount-0:2.40.2- 100% | 172.3 MiB/s | 352.9 KiB |  00m00s
[ 61/156] Installing lua-libs-0:5.4.6-6 100% | 139.8 MiB/s | 286.2 KiB |  00m00s
[ 62/156] Installing lz4-libs-0:1.10.0- 100% | 143.1 MiB/s | 146.6 KiB |  00m00s
[ 63/156] Installing alternatives-0:1.3 100% |  66.3 MiB/s |  67.9 KiB |  00m00s
[ 64/156] Installing libcom_err-0:1.47. 100% |  66.7 MiB/s |  68.3 KiB |  00m00s
[ 65/156] Installing libffi-0:3.4.6-3.f 100% |  85.7 MiB/s |  87.8 KiB |  00m00s
[ 66/156] Installing libtasn1-0:4.19.0- 100% |  86.7 MiB/s | 177.5 KiB |  00m00s
[ 67/156] Installing p11-kit-0:0.25.5-3 100% | 157.7 MiB/s |   2.2 MiB |  00m00s
[ 68/156] Installing libunistring-0:1.1 100% | 247.2 MiB/s |   1.7 MiB |  00m00s
[ 69/156] Installing libidn2-0:2.3.7-2. 100% |  81.8 MiB/s | 335.1 KiB |  00m00s
[ 70/156] Installing libpsl-0:0.21.5-4. 100% |  79.7 MiB/s |  81.7 KiB |  00m00s
[ 71/156] Installing p11-kit-trust-0:0. 100% |  21.3 MiB/s | 393.1 KiB |  00m00s
>>> Running post-install scriptlet: p11-kit-trust-0:0.25.5-3.fc41.x86_64
>>> Stop post-install scriptlet: p11-kit-trust-0:0.25.5-3.fc41.x86_64
[ 72/156] Installing zstd-0:1.5.6-2.fc4 100% | 241.6 MiB/s |   1.7 MiB |  00m00s
[ 73/156] Installing util-linux-core-0: 100% | 123.8 MiB/s |   1.5 MiB |  00m00s
[ 74/156] Installing tar-2:1.35-4.fc41. 100% | 227.6 MiB/s |   3.0 MiB |  00m00s
[ 75/156] Installing libsemanage-0:3.7- 100% |  96.1 MiB/s | 295.2 KiB |  00m00s
[ 76/156] Installing shadow-utils-2:4.1 100% |  78.6 MiB/s |   4.2 MiB |  00m00s
>>> Running pre-install scriptlet: libutempter-0:1.2.1-15.fc41.x86_64
>>> Stop pre-install scriptlet: libutempter-0:1.2.1-15.fc41.x86_64
[ 77/156] Installing libutempter-0:1.2. 100% |  29.2 MiB/s |  59.7 KiB |  00m00s
[ 78/156] Installing zip-0:3.0-41.fc41. 100% | 172.6 MiB/s | 707.1 KiB |  00m00s
[ 79/156] Installing gdbm-1:1.23-7.fc41 100% |  91.0 MiB/s | 465.8 KiB |  00m00s
[ 80/156] Installing cyrus-sasl-lib-0:2 100% | 230.6 MiB/s |   2.3 MiB |  00m00s
[ 81/156] Installing libfdisk-0:2.40.2- 100% | 177.8 MiB/s | 364.1 KiB |  00m00s
[ 82/156] Installing libxml2-0:2.12.8-2 100% | 244.6 MiB/s |   1.7 MiB |  00m00s
[ 83/156] Installing bzip2-0:1.0.8-19.f 100% |  48.9 MiB/s | 100.2 KiB |  00m00s
[ 84/156] Installing add-determinism-0: 100% | 280.7 MiB/s |   2.2 MiB |  00m00s
[ 85/156] Installing build-reproducibil 100% |   0.0   B/s |   1.0 KiB |  00m00s
[ 86/156] Installing sqlite-libs-0:3.46 100% | 285.9 MiB/s |   1.4 MiB |  00m00s
[ 87/156] Installing ed-0:1.20.2-2.fc41 100% |  72.8 MiB/s | 149.2 KiB |  00m00s
[ 88/156] Installing patch-0:2.7.6-25.f 100% | 131.0 MiB/s | 268.2 KiB |  00m00s
[ 89/156] Installing elfutils-default-y 100% | 145.9 KiB/s |   2.0 KiB |  00m00s
>>> Running post-install scriptlet: elfutils-default-yama-scope-0:0.192-5.fc41.n
>>> Stop post-install scriptlet: elfutils-default-yama-scope-0:0.192-5.fc41.noar
[ 90/156] Installing cpio-0:2.15-2.fc41 100% | 137.5 MiB/s |   1.1 MiB |  00m00s
[ 91/156] Installing diffutils-0:3.10-8 100% | 176.7 MiB/s |   1.6 MiB |  00m00s
[ 92/156] Installing libgomp-0:14.2.1-3 100% | 256.2 MiB/s | 524.8 KiB |  00m00s
[ 93/156] Installing json-c-0:0.17-4.fc 100% |  81.7 MiB/s |  83.6 KiB |  00m00s
[ 94/156] Installing jansson-0:2.13.1-1 100% |  87.6 MiB/s |  89.7 KiB |  00m00s
[ 95/156] Installing libpkgconf-0:2.3.0 100% |  77.5 MiB/s |  79.3 KiB |  00m00s
[ 96/156] Installing pkgconf-0:2.3.0-1. 100% |  44.5 MiB/s |  91.1 KiB |  00m00s
[ 97/156] Installing pkgconf-pkg-config 100% |   1.7 MiB/s |   1.8 KiB |  00m00s
[ 98/156] Installing keyutils-libs-0:1. 100% |  54.5 MiB/s |  55.8 KiB |  00m00s
[ 99/156] Installing libverto-0:0.3.2-9 100% |  30.5 MiB/s |  31.3 KiB |  00m00s
[100/156] Installing xxhash-libs-0:0.8. 100% |  87.7 MiB/s |  89.8 KiB |  00m00s
[101/156] Installing libbrotli-0:1.1.0- 100% | 205.0 MiB/s | 839.9 KiB |  00m00s
[102/156] Installing libnghttp2-0:1.62. 100% | 163.2 MiB/s | 167.1 KiB |  00m00s
[103/156] Installing libtool-ltdl-0:2.4 100% |  65.7 MiB/s |  67.3 KiB |  00m00s
[104/156] Installing coreutils-common-0 100% | 254.3 MiB/s |  11.2 MiB |  00m00s
[105/156] Installing openssl-libs-1:3.2 100% | 313.2 MiB/s |   7.8 MiB |  00m00s
[106/156] Installing coreutils-0:9.5-10 100% | 141.5 MiB/s |   5.7 MiB |  00m00s
>>> Running pre-install scriptlet: ca-certificates-0:2024.2.69_v8.0.401-1.0.fc41
>>> Stop pre-install scriptlet: ca-certificates-0:2024.2.69_v8.0.401-1.0.fc41.no
[107/156] Installing ca-certificates-0: 100% |   2.4 MiB/s |   2.4 MiB |  00m01s
>>> Running post-install scriptlet: ca-certificates-0:2024.2.69_v8.0.401-1.0.fc4
>>> Stop post-install scriptlet: ca-certificates-0:2024.2.69_v8.0.401-1.0.fc41.n
[108/156] Installing krb5-libs-0:1.21.3 100% | 178.4 MiB/s |   2.3 MiB |  00m00s
[109/156] Installing libarchive-0:3.7.4 100% | 181.4 MiB/s | 928.6 KiB |  00m00s
[110/156] Installing libtirpc-0:1.3.6-0 100% |  99.8 MiB/s | 204.5 KiB |  00m00s
[111/156] Installing gzip-0:1.13-2.fc41 100% |  96.3 MiB/s | 394.6 KiB |  00m00s
[112/156] Installing authselect-libs-0: 100% |  81.8 MiB/s | 837.2 KiB |  00m00s
[113/156] Installing cracklib-0:2.9.11- 100% |  34.9 MiB/s | 250.3 KiB |  00m00s
[114/156] Installing libpwquality-0:1.4 100% |  52.5 MiB/s | 430.1 KiB |  00m00s
[115/156] Installing libnsl2-0:2.0.1-2. 100% |  28.8 MiB/s |  59.1 KiB |  00m00s
[116/156] Installing pam-0:1.6.1-6.fc41 100% |  78.2 MiB/s |   1.9 MiB |  00m00s
[117/156] Installing libssh-0:0.10.6-8. 100% | 125.8 MiB/s | 515.4 KiB |  00m00s
[118/156] Installing rpm-sequoia-0:1.7. 100% | 263.0 MiB/s |   2.4 MiB |  00m00s
[119/156] Installing rpm-libs-0:4.20.0- 100% | 177.6 MiB/s | 727.4 KiB |  00m00s
[120/156] Installing libevent-0:2.1.12- 100% | 175.7 MiB/s | 899.5 KiB |  00m00s
[121/156] Installing openldap-0:2.6.8-5 100% | 158.2 MiB/s | 648.0 KiB |  00m00s
[122/156] Installing libcurl-0:8.9.1-2. 100% | 200.0 MiB/s | 819.2 KiB |  00m00s
[123/156] Installing elfutils-debuginfo 100% |  42.1 MiB/s |  86.3 KiB |  00m00s
[124/156] Installing elfutils-libs-0:0. 100% | 163.1 MiB/s | 668.0 KiB |  00m00s
[125/156] Installing elfutils-0:0.192-5 100% | 243.2 MiB/s |   2.7 MiB |  00m00s
[126/156] Installing binutils-0:2.43.1- 100% | 264.7 MiB/s |  27.5 MiB |  00m00s
>>> Running post-install scriptlet: binutils-0:2.43.1-2.fc41.x86_64
>>> Stop post-install scriptlet: binutils-0:2.43.1-2.fc41.x86_64
[127/156] Installing gdb-minimal-0:15.2 100% | 309.3 MiB/s |  13.0 MiB |  00m00s
[128/156] Installing debugedit-0:5.1-1. 100% |  65.9 MiB/s | 202.5 KiB |  00m00s
[129/156] Installing rpm-build-libs-0:4 100% | 101.3 MiB/s | 207.5 KiB |  00m00s
[130/156] Installing curl-0:8.9.1-2.fc4 100% |  37.1 MiB/s | 798.6 KiB |  00m00s
>>> Running pre-install scriptlet: rpm-0:4.20.0-1.fc41.x86_64
>>> Stop pre-install scriptlet: rpm-0:4.20.0-1.fc41.x86_64
[131/156] Installing rpm-0:4.20.0-1.fc4 100% |  86.4 MiB/s |   2.5 MiB |  00m00s
[132/156] Installing efi-srpm-macros-0: 100% |  40.2 MiB/s |  41.2 KiB |  00m00s
[133/156] Installing lua-srpm-macros-0: 100% |   0.0   B/s |   1.9 KiB |  00m00s
[134/156] Installing zig-srpm-macros-0: 100% |   1.6 MiB/s |   1.7 KiB |  00m00s
[135/156] Installing rust-srpm-macros-0 100% |   5.4 MiB/s |   5.6 KiB |  00m00s
[136/156] Installing qt5-srpm-macros-0: 100% |   0.0   B/s | 776.0   B |  00m00s
[137/156] Installing perl-srpm-macros-0 100% |   0.0   B/s |   1.1 KiB |  00m00s
[138/156] Installing package-notes-srpm 100% |   2.0 MiB/s |   2.0 KiB |  00m00s
[139/156] Installing openblas-srpm-macr 100% |   0.0   B/s | 392.0   B |  00m00s
[140/156] Installing ocaml-srpm-macros- 100% |   0.0   B/s |   2.2 KiB |  00m00s
[141/156] Installing kernel-srpm-macros 100% |   0.0   B/s |   2.3 KiB |  00m00s
[142/156] Installing gnat-srpm-macros-0 100% |   0.0   B/s |   1.3 KiB |  00m00s
[143/156] Installing ghc-srpm-macros-0: 100% |   0.0   B/s |   1.0 KiB |  00m00s
[144/156] Installing fpc-srpm-macros-0: 100% |   0.0   B/s | 420.0   B |  00m00s
[145/156] Installing ansible-srpm-macro 100% |  35.4 MiB/s |  36.2 KiB |  00m00s
[146/156] Installing fonts-srpm-macros- 100% |  55.7 MiB/s |  57.0 KiB |  00m00s
[147/156] Installing forge-srpm-macros- 100% |  39.4 MiB/s |  40.4 KiB |  00m00s
[148/156] Installing go-srpm-macros-0:3 100% |  60.5 MiB/s |  62.0 KiB |  00m00s
[149/156] Installing python-srpm-macros 100% |  50.9 MiB/s |  52.2 KiB |  00m00s
[150/156] Installing redhat-rpm-config- 100% |  46.4 MiB/s | 190.1 KiB |  00m00s
[151/156] Installing rpm-build-0:4.20.0 100% |  49.5 MiB/s | 202.8 KiB |  00m00s
[152/156] Installing pyproject-srpm-mac 100% |   1.2 MiB/s |   2.5 KiB |  00m00s
[153/156] Installing util-linux-0:2.40. 100% |  87.2 MiB/s |   3.7 MiB |  00m00s
>>> Running post-install scriptlet: util-linux-0:2.40.2-4.fc41.x86_64
>>> Stop post-install scriptlet: util-linux-0:2.40.2-4.fc41.x86_64
[154/156] Installing authselect-0:1.5.0 100% |  39.5 MiB/s | 161.9 KiB |  00m00s
[155/156] Installing which-0:2.21-42.fc 100% |  40.2 MiB/s |  82.4 KiB |  00m00s
[156/156] Installing info-0:7.1-3.fc41. 100% | 273.1 KiB/s | 362.2 KiB |  00m01s
>>> Running post-transaction scriptlet: filesystem-0:3.18-23.fc41.x86_64
>>> Stop post-transaction scriptlet: filesystem-0:3.18-23.fc41.x86_64
>>> Running post-transaction scriptlet: ca-certificates-0:2024.2.69_v8.0.401-1.0
>>> Stop post-transaction scriptlet: ca-certificates-0:2024.2.69_v8.0.401-1.0.fc
>>> Running post-transaction scriptlet: authselect-libs-0:1.5.0-8.fc41.x86_64
>>> Stop post-transaction scriptlet: authselect-libs-0:1.5.0-8.fc41.x86_64
>>> Running post-transaction scriptlet: rpm-0:4.20.0-1.fc41.x86_64
>>> Stop post-transaction scriptlet: rpm-0:4.20.0-1.fc41.x86_64
>>> Running trigger-install scriptlet: glibc-common-0:2.40-9.fc41.x86_64
>>> Stop trigger-install scriptlet: glibc-common-0:2.40-9.fc41.x86_64
>>> Running trigger-install scriptlet: info-0:7.1-3.fc41.x86_64
>>> Stop trigger-install scriptlet: info-0:7.1-3.fc41.x86_64
Finish: installing minimal buildroot with dnf5
Start: creating root cache
Finish: creating root cache
Finish: chroot init
INFO: Installed packages:
INFO: add-determinism-0.3.6-1.fc41.x86_64
alternatives-1.30-1.fc41.x86_64
ansible-srpm-macros-1-16.fc41.noarch
audit-libs-4.0.2-1.fc41.x86_64
authselect-1.5.0-8.fc41.x86_64
authselect-libs-1.5.0-8.fc41.x86_64
basesystem-11-21.fc41.noarch
bash-5.2.32-1.fc41.x86_64
binutils-2.43.1-2.fc41.x86_64
build-reproducibility-srpm-macros-0.3.6-1.fc41.noarch
bzip2-1.0.8-19.fc41.x86_64
bzip2-libs-1.0.8-19.fc41.x86_64
ca-certificates-2024.2.69_v8.0.401-1.0.fc41.noarch
coreutils-9.5-10.fc41.x86_64
coreutils-common-9.5-10.fc41.x86_64
cpio-2.15-2.fc41.x86_64
cracklib-2.9.11-6.fc41.x86_64
crypto-policies-20241029-1.git8baf557.fc41.noarch
curl-8.9.1-2.fc41.x86_64
cyrus-sasl-lib-2.1.28-27.fc41.x86_64
debugedit-5.1-1.fc41.x86_64
diffutils-3.10-8.fc41.x86_64
dwz-0.15-8.fc41.x86_64
ed-1.20.2-2.fc41.x86_64
efi-srpm-macros-5-12.fc41.noarch
elfutils-0.192-5.fc41.x86_64
elfutils-debuginfod-client-0.192-5.fc41.x86_64
elfutils-default-yama-scope-0.192-5.fc41.noarch
elfutils-libelf-0.192-5.fc41.x86_64
elfutils-libs-0.192-5.fc41.x86_64
fedora-gpg-keys-41-1.noarch
fedora-release-41-27.noarch
fedora-release-common-41-27.noarch
fedora-release-identity-basic-41-27.noarch
fedora-repos-41-1.noarch
file-5.45-7.fc41.x86_64
file-libs-5.45-7.fc41.x86_64
filesystem-3.18-23.fc41.x86_64
findutils-4.10.0-4.fc41.x86_64
fonts-srpm-macros-2.0.5-17.fc41.noarch
forge-srpm-macros-0.3.2-1.fc41.noarch
fpc-srpm-macros-1.3-13.fc41.noarch
gawk-5.3.0-4.fc41.x86_64
gdb-minimal-15.2-1.fc41.x86_64
gdbm-1.23-7.fc41.x86_64
gdbm-libs-1.23-7.fc41.x86_64
ghc-srpm-macros-1.9.1-2.fc41.noarch
glibc-2.40-9.fc41.x86_64
glibc-common-2.40-9.fc41.x86_64
glibc-gconv-extra-2.40-9.fc41.x86_64
glibc-minimal-langpack-2.40-9.fc41.x86_64
gmp-6.3.0-2.fc41.x86_64
gnat-srpm-macros-6-6.fc41.noarch
go-srpm-macros-3.6.0-3.fc41.noarch
gpg-pubkey-e99d6ad1-64d2612c
grep-3.11-9.fc41.x86_64
gzip-1.13-2.fc41.x86_64
info-7.1-3.fc41.x86_64
jansson-2.13.1-10.fc41.x86_64
json-c-0.17-4.fc41.x86_64
kernel-srpm-macros-1.0-24.fc41.noarch
keyutils-libs-1.6.3-4.fc41.x86_64
krb5-libs-1.21.3-3.fc41.x86_64
libacl-2.3.2-2.fc41.x86_64
libarchive-3.7.4-4.fc41.x86_64
libattr-2.5.2-4.fc41.x86_64
libblkid-2.40.2-4.fc41.x86_64
libbrotli-1.1.0-5.fc41.x86_64
libcap-2.70-4.fc41.x86_64
libcap-ng-0.8.5-3.fc41.x86_64
libcom_err-1.47.1-6.fc41.x86_64
libcurl-8.9.1-2.fc41.x86_64
libeconf-0.6.2-3.fc41.x86_64
libevent-2.1.12-14.fc41.x86_64
libfdisk-2.40.2-4.fc41.x86_64
libffi-3.4.6-3.fc41.x86_64
libgcc-14.2.1-3.fc41.x86_64
libgomp-14.2.1-3.fc41.x86_64
libidn2-2.3.7-2.fc41.x86_64
libmount-2.40.2-4.fc41.x86_64
libnghttp2-1.62.1-2.fc41.x86_64
libnsl2-2.0.1-2.fc41.x86_64
libpkgconf-2.3.0-1.fc41.x86_64
libpsl-0.21.5-4.fc41.x86_64
libpwquality-1.4.5-11.fc41.x86_64
libselinux-3.7-5.fc41.x86_64
libsemanage-3.7-2.fc41.x86_64
libsepol-3.7-2.fc41.x86_64
libsmartcols-2.40.2-4.fc41.x86_64
libssh-0.10.6-8.fc41.x86_64
libssh-config-0.10.6-8.fc41.noarch
libstdc++-14.2.1-3.fc41.x86_64
libtasn1-4.19.0-9.fc41.x86_64
libtirpc-1.3.6-0.fc41.x86_64
libtool-ltdl-2.4.7-12.fc41.x86_64
libunistring-1.1-8.fc41.x86_64
libutempter-1.2.1-15.fc41.x86_64
libuuid-2.40.2-4.fc41.x86_64
libverto-0.3.2-9.fc41.x86_64
libxcrypt-4.4.36-7.fc41.x86_64
libxml2-2.12.8-2.fc41.x86_64
libzstd-1.5.6-2.fc41.x86_64
lua-libs-5.4.6-6.fc41.x86_64
lua-srpm-macros-1-14.fc41.noarch
lz4-libs-1.10.0-1.fc41.x86_64
mpfr-4.2.1-5.fc41.x86_64
ncurses-base-6.5-2.20240629.fc41.noarch
ncurses-libs-6.5-2.20240629.fc41.x86_64
ocaml-srpm-macros-10-3.fc41.noarch
openblas-srpm-macros-2-18.fc41.noarch
openldap-2.6.8-5.fc41.x86_64
openssl-libs-3.2.2-9.fc41.x86_64
p11-kit-0.25.5-3.fc41.x86_64
p11-kit-trust-0.25.5-3.fc41.x86_64
package-notes-srpm-macros-0.5-12.fc41.noarch
pam-1.6.1-6.fc41.x86_64
pam-libs-1.6.1-6.fc41.x86_64
patch-2.7.6-25.fc41.x86_64
pcre2-10.44-1.fc41.1.x86_64
pcre2-syntax-10.44-1.fc41.1.noarch
perl-srpm-macros-1-56.fc41.noarch
pkgconf-2.3.0-1.fc41.x86_64
pkgconf-m4-2.3.0-1.fc41.noarch
pkgconf-pkg-config-2.3.0-1.fc41.x86_64
popt-1.19-7.fc41.x86_64
publicsuffix-list-dafsa-20240107-4.fc41.noarch
pyproject-srpm-macros-1.15.1-1.fc41.noarch
python-srpm-macros-3.13-3.fc41.noarch
qt5-srpm-macros-5.15.15-1.fc41.noarch
qt6-srpm-macros-6.8.0-1.fc41.noarch
readline-8.2-10.fc41.x86_64
redhat-rpm-config-293-1.fc41.noarch
rpm-4.20.0-1.fc41.x86_64
rpm-build-4.20.0-1.fc41.x86_64
rpm-build-libs-4.20.0-1.fc41.x86_64
rpm-libs-4.20.0-1.fc41.x86_64
rpm-sequoia-1.7.0-2.fc41.x86_64
rust-srpm-macros-26.3-3.fc41.noarch
sed-4.9-3.fc41.x86_64
setup-2.15.0-5.fc41.noarch
shadow-utils-4.15.1-12.fc41.x86_64
sqlite-libs-3.46.1-1.fc41.x86_64
systemd-libs-256.7-1.fc41.x86_64
tar-1.35-4.fc41.x86_64
unzip-6.0-64.fc41.x86_64
util-linux-2.40.2-4.fc41.x86_64
util-linux-core-2.40.2-4.fc41.x86_64
which-2.21-42.fc41.x86_64
xxhash-libs-0.8.2-4.fc41.x86_64
xz-5.6.2-2.fc41.x86_64
xz-libs-5.6.2-2.fc41.x86_64
zig-srpm-macros-1-3.fc41.noarch
zip-3.0-41.fc41.x86_64
zlib-ng-compat-2.1.7-3.fc41.x86_64
zstd-1.5.6-2.fc41.x86_64
Start: buildsrpm
Start: rpmbuild -bs
Building target platforms: x86_64
Building for target x86_64
warning: %source_date_epoch_from_changelog is set, but %changelog has no entries to take a date from
Wrote: /builddir/build/SRPMS/R-CRAN-imuf-0.3.0-1.fc41.copr8224464.src.rpm

RPM build warnings:
    %source_date_epoch_from_changelog is set, but %changelog has no entries to take a date from
Finish: rpmbuild -bs
INFO: chroot_scan: 1 files copied to /var/lib/copr-rpmbuild/results/chroot_scan
INFO: /var/lib/mock/fedora-41-x86_64-1730943816.197371/root/var/log/dnf5.log
INFO: chroot_scan: creating tarball /var/lib/copr-rpmbuild/results/chroot_scan.tar.gz
/bin/tar: Removing leading `/' from member names
Finish: buildsrpm
INFO: Done(/var/lib/copr-rpmbuild/workspace/workdir-0f9qc9bh/R-CRAN-imuf/R-CRAN-imuf.spec) Config(child) 0 minutes 14 seconds
INFO: Results and/or logs in: /var/lib/copr-rpmbuild/results
INFO: Cleaning up build root ('cleanup_on_success=True')
Start: clean chroot
INFO: unmounting tmpfs.
Finish: clean chroot
INFO: Start(/var/lib/copr-rpmbuild/results/R-CRAN-imuf-0.3.0-1.fc41.copr8224464.src.rpm)  Config(fedora-41-x86_64)
Start: chroot init
INFO: mounting tmpfs at /var/lib/mock/fedora-41-x86_64-1730943816.197371/root.
INFO: calling preinit hooks
INFO: enabled root cache
Start: unpacking root cache
Finish: unpacking root cache
INFO: enabled package manager cache
Start: cleaning package manager metadata
Finish: cleaning package manager metadata
INFO: enabled HW Info plugin
INFO: Buildroot is handled by package management from host and used with --installroot:
  rpm-4.19.1.1-1.fc39.x86_64
  rpm-sequoia-1.6.0-1.fc39.x86_64
  python3-dnf-4.21.1-1.fc39.noarch
  python3-dnf-plugins-core-4.9.0-1.fc39.noarch
  yum-4.21.1-1.fc39.noarch
  dnf5-5.1.17-2.fc39.x86_64
  dnf5-plugins-5.1.17-2.fc39.x86_64
Finish: chroot init
Start: build phase for R-CRAN-imuf-0.3.0-1.fc41.copr8224464.src.rpm
Start: build setup for R-CRAN-imuf-0.3.0-1.fc41.copr8224464.src.rpm
Building target platforms: x86_64
Building for target x86_64
warning: %source_date_epoch_from_changelog is set, but %changelog has no entries to take a date from
Wrote: /builddir/build/SRPMS/R-CRAN-imuf-0.3.0-1.fc41.copr8224464.src.rpm

RPM build warnings:
    %source_date_epoch_from_changelog is set, but %changelog has no entries to take a date from
Updating and loading repositories:
 updates                                100% |   1.0 MiB/s |  29.2 KiB |  00m00s
 fedora                                 100% | 956.0 KiB/s |  26.8 KiB |  00m00s
 Copr repository                        100% |  41.5 KiB/s |   1.5 KiB |  00m00s
 Copr repository                        100% |  28.7 MiB/s |  12.2 MiB |  00m00s
Repositories loaded.
Package                      Arch   Version                          Repository      Size
Installing:                                                                              
 R-CRAN-Rcpp                 x86_64 1.0.13.1-1.fc41.copr8204071      copr_base    8.4 MiB
 R-CRAN-RcppEigen            x86_64 0.3.4.0.2-1.fc41.copr8100507     copr_base    9.0 MiB
 R-devel                     x86_64 4.4.1-5.fc41                     fedora       0.0   B
Installing dependencies:                                                                 
 R-core                      x86_64 4.4.1-5.fc41                     fedora     101.5 MiB
 R-core-devel                x86_64 4.4.1-5.fc41                     fedora     394.7 KiB
 R-java                      x86_64 4.4.1-5.fc41                     fedora       0.0   B
 R-java-devel                x86_64 4.4.1-5.fc41                     fedora       0.0   B
 R-littler                   x86_64 0.3.19-5.fc41                    fedora     158.1 KiB
 R-rpm-macros                noarch 1.2.1-11.fc41                    fedora       5.6 KiB
 abattis-cantarell-vf-fonts  noarch 0.301-13.fc41                    fedora     192.7 KiB
 alsa-lib                    x86_64 1.2.12-2.fc41                    fedora       1.4 MiB
 annobin-docs                noarch 12.69-1.fc41                     fedora      97.7 KiB
 annobin-plugin-gcc          x86_64 12.69-1.fc41                     fedora     985.0 KiB
 avahi-libs                  x86_64 0.8-29.fc41                      fedora     166.3 KiB
 brotli                      x86_64 1.1.0-5.fc41                     fedora      31.8 KiB
 brotli-devel                x86_64 1.1.0-5.fc41                     fedora      65.6 KiB
 bzip2-devel                 x86_64 1.0.8-19.fc41                    fedora     309.8 KiB
 cairo                       x86_64 1.18.0-4.fc41                    fedora       1.7 MiB
 cairo-devel                 x86_64 1.18.0-4.fc41                    fedora       2.3 MiB
 cmake-filesystem            x86_64 3.30.5-1.fc41                    updates      0.0   B
 copy-jdk-configs            noarch 4.1-6.fc41                       fedora      20.3 KiB
 cpp                         x86_64 14.2.1-3.fc41                    fedora      35.0 MiB
 cups-libs                   x86_64 1:2.4.11-2.fc41                  fedora     622.9 KiB
 dbus-libs                   x86_64 1:1.14.10-4.fc41                 fedora     368.9 KiB
 default-fonts-core-sans     noarch 4.1-2.fc41                       fedora      11.9 KiB
 desktop-file-utils          x86_64 0.27-2.fc41                      fedora     230.4 KiB
 emacs-filesystem            noarch 1:30.0-3.fc41                    fedora       0.0   B
 expat                       x86_64 2.6.3-1.fc41                     fedora     291.5 KiB
 flexiblas                   x86_64 3.4.4-3.fc41                     fedora      48.5 KiB
 flexiblas-devel             x86_64 3.4.4-3.fc41                     fedora       4.8 MiB
 flexiblas-netlib            x86_64 3.4.4-3.fc41                     fedora      10.7 MiB
 flexiblas-netlib64          x86_64 3.4.4-3.fc41                     fedora      10.8 MiB
 flexiblas-openblas-openmp   x86_64 3.4.4-3.fc41                     fedora      43.3 KiB
 flexiblas-openblas-openmp64 x86_64 3.4.4-3.fc41                     fedora      43.3 KiB
 fontconfig                  x86_64 2.15.0-8.fc41                    fedora     791.9 KiB
 fontconfig-devel            x86_64 2.15.0-8.fc41                    fedora     117.2 KiB
 fonts-filesystem            noarch 1:2.0.5-17.fc41                  fedora       0.0   B
 freetype                    x86_64 2.13.3-1.fc41                    fedora     850.5 KiB
 freetype-devel              x86_64 2.13.3-1.fc41                    fedora       8.5 MiB
 fribidi                     x86_64 1.0.15-2.fc41                    fedora     368.4 KiB
 gcc                         x86_64 14.2.1-3.fc41                    fedora     104.3 MiB
 gcc-c++                     x86_64 14.2.1-3.fc41                    fedora      38.2 MiB
 gcc-gfortran                x86_64 14.2.1-3.fc41                    fedora      37.2 MiB
 gcc-plugin-annobin          x86_64 14.2.1-3.fc41                    fedora      61.1 KiB
 gettext                     x86_64 0.22.5-6.fc41                    fedora       5.2 MiB
 gettext-envsubst            x86_64 0.22.5-6.fc41                    fedora      74.9 KiB
 gettext-libs                x86_64 0.22.5-6.fc41                    fedora       1.7 MiB
 gettext-runtime             x86_64 0.22.5-6.fc41                    fedora     481.3 KiB
 glib2                       x86_64 2.82.2-1.fc41                    updates     14.7 MiB
 glib2-devel                 x86_64 2.82.2-1.fc41                    updates     15.7 MiB
 glibc-devel                 x86_64 2.40-9.fc41                      updates      2.3 MiB
 gnutls                      x86_64 3.8.6-7.fc41                     fedora       3.2 MiB
 google-noto-fonts-common    noarch 20240701-2.fc41                  fedora      17.5 KiB
 google-noto-sans-vf-fonts   noarch 20240701-2.fc41                  fedora       1.2 MiB
 graphite2                   x86_64 1.3.14-16.fc41                   fedora     192.0 KiB
 graphite2-devel             x86_64 1.3.14-16.fc41                   fedora      49.1 KiB
 harfbuzz                    x86_64 9.0.0-3.fc41                     fedora       2.6 MiB
 harfbuzz-cairo              x86_64 9.0.0-3.fc41                     fedora      48.2 KiB
 harfbuzz-devel              x86_64 9.0.0-3.fc41                     fedora       5.1 MiB
 harfbuzz-icu                x86_64 9.0.0-3.fc41                     fedora      19.5 KiB
 java-21-openjdk             x86_64 1:21.0.5.0.11-1.fc41             updates      1.1 MiB
 java-21-openjdk-devel       x86_64 1:21.0.5.0.11-1.fc41             updates     11.2 MiB
 java-21-openjdk-headless    x86_64 1:21.0.5.0.11-1.fc41             updates    203.9 MiB
 javapackages-filesystem     noarch 6.2.0-14.fc41                    fedora       1.9 KiB
 jbigkit-libs                x86_64 2.1-30.fc41                      fedora     117.6 KiB
 kernel-headers              x86_64 6.11.3-300.fc41                  fedora       6.4 MiB
 less                        x86_64 661-2.fc41                       fedora     405.3 KiB
 libICE                      x86_64 1.1.1-4.fc41                     fedora     181.2 KiB
 libRmath                    x86_64 4.4.1-5.fc41                     fedora     246.8 KiB
 libRmath-devel              x86_64 4.4.1-5.fc41                     fedora      17.4 KiB
 libSM                       x86_64 1.2.4-4.fc41                     fedora      97.3 KiB
 libX11                      x86_64 1.8.10-2.fc41                    fedora       1.3 MiB
 libX11-common               noarch 1.8.10-2.fc41                    fedora       1.1 MiB
 libX11-devel                x86_64 1.8.10-2.fc41                    fedora       1.0 MiB
 libX11-xcb                  x86_64 1.8.10-2.fc41                    fedora      15.0 KiB
 libXau                      x86_64 1.0.11-7.fc41                    fedora      66.9 KiB
 libXau-devel                x86_64 1.0.11-7.fc41                    fedora       6.4 KiB
 libXcomposite               x86_64 0.4.6-4.fc41                     fedora      44.5 KiB
 libXext                     x86_64 1.3.6-2.fc41                     fedora      90.1 KiB
 libXext-devel               x86_64 1.3.6-2.fc41                     fedora      98.9 KiB
 libXft                      x86_64 2.3.8-7.fc41                     fedora     164.5 KiB
 libXft-devel                x86_64 2.3.8-7.fc41                     fedora      31.7 KiB
 libXi                       x86_64 1.8.2-1.fc41                     fedora      76.7 KiB
 libXmu                      x86_64 1.2.1-2.fc41                     fedora     191.5 KiB
 libXrender                  x86_64 0.9.11-7.fc41                    fedora      50.1 KiB
 libXrender-devel            x86_64 0.9.11-7.fc41                    fedora      50.1 KiB
 libXt                       x86_64 1.3.0-4.fc41                     fedora     429.9 KiB
 libXtst                     x86_64 1.2.5-1.fc41                     fedora      33.6 KiB
 libb2                       x86_64 0.98.1-12.fc41                   fedora      42.2 KiB
 libblkid-devel              x86_64 2.40.2-4.fc41                    fedora      44.9 KiB
 libdatrie                   x86_64 0.2.13-10.fc41                   fedora      57.9 KiB
 libdeflate                  x86_64 1.22-2.fc41                      fedora     118.1 KiB
 libdeflate-devel            x86_64 1.22-2.fc41                      fedora      25.7 KiB
 libffi-devel                x86_64 3.4.6-3.fc41                     fedora      33.1 KiB
 libfontenc                  x86_64 1.1.8-2.fc41                     fedora      67.0 KiB
 libgfortran                 x86_64 14.2.1-3.fc41                    fedora       3.0 MiB
 libicu                      x86_64 74.2-2.fc41                      fedora      34.9 MiB
 libicu-devel                x86_64 74.2-2.fc41                      fedora       5.6 MiB
 libjpeg-turbo               x86_64 3.0.2-3.fc41                     fedora     776.9 KiB
 liblerc                     x86_64 4.0.0-7.fc41                     fedora     607.5 KiB
 libmount-devel              x86_64 2.40.2-4.fc41                    fedora      63.5 KiB
 libmpc                      x86_64 1.3.1-6.fc41                     fedora     164.7 KiB
 libpng                      x86_64 2:1.6.40-4.fc41                  fedora     245.8 KiB
 libpng-devel                x86_64 2:1.6.40-4.fc41                  fedora     881.5 KiB
 libquadmath                 x86_64 14.2.1-3.fc41                    fedora     325.9 KiB
 libquadmath-devel           x86_64 14.2.1-3.fc41                    fedora      21.9 KiB
 libselinux-devel            x86_64 3.7-5.fc41                       fedora     126.4 KiB
 libsepol-devel              x86_64 3.7-2.fc41                       fedora     120.3 KiB
 libstdc++-devel             x86_64 14.2.1-3.fc41                    fedora      15.4 MiB
 libtextstyle                x86_64 0.22.5-6.fc41                    fedora     195.6 KiB
 libthai                     x86_64 0.1.29-9.fc41                    fedora     783.5 KiB
 libtiff                     x86_64 4.6.0-6.fc41                     fedora     606.0 KiB
 libtirpc-devel              x86_64 1.3.6-0.fc41                     updates    251.6 KiB
 libwebp                     x86_64 1.4.0-4.fc41                     fedora     822.6 KiB
 libxcb                      x86_64 1.17.0-3.fc41                    fedora       1.2 MiB
 libxcb-devel                x86_64 1.17.0-3.fc41                    fedora       2.7 MiB
 libxcrypt-devel             x86_64 4.4.36-7.fc41                    fedora      30.3 KiB
 libxml2-devel               x86_64 2.12.8-2.fc41                    fedora       3.4 MiB
 lksctp-tools                x86_64 1.0.19-9.fc41                    fedora     275.2 KiB
 lua                         x86_64 5.4.6-6.fc41                     fedora     601.7 KiB
 lua-posix                   x86_64 36.2.1-7.fc41                    fedora     599.8 KiB
 make                        x86_64 1:4.4.1-8.fc41                   fedora       1.8 MiB
 mkfontscale                 x86_64 1.2.3-1.fc41                     fedora      49.2 KiB
 mpdecimal                   x86_64 2.5.1-16.fc41                    fedora     204.9 KiB
 nettle                      x86_64 3.10-3.fc41                      fedora     793.0 KiB
 nspr                        x86_64 4.35.0-30.fc41                   updates    320.4 KiB
 nss                         x86_64 3.105.0-1.fc41                   updates      1.9 MiB
 nss-softokn                 x86_64 3.105.0-1.fc41                   updates      1.9 MiB
 nss-softokn-freebl          x86_64 3.105.0-1.fc41                   updates    845.1 KiB
 nss-sysinit                 x86_64 3.105.0-1.fc41                   updates     22.2 KiB
 nss-util                    x86_64 3.105.0-1.fc41                   updates    205.1 KiB
 openblas                    x86_64 0.3.26-5.fc41                    fedora      96.0 KiB
 openblas-openmp             x86_64 0.3.26-5.fc41                    fedora      39.4 MiB
 openblas-openmp64           x86_64 0.3.26-5.fc41                    fedora      39.5 MiB
 pango                       x86_64 1.54.0-2.fc41                    fedora     996.2 KiB
 pcre2-devel                 x86_64 10.44-1.fc41.1                   fedora       2.0 MiB
 pcre2-utf16                 x86_64 10.44-1.fc41.1                   fedora     590.1 KiB
 pcre2-utf32                 x86_64 10.44-1.fc41.1                   fedora     562.0 KiB
 pixman                      x86_64 0.43.4-2.fc41                    fedora     718.1 KiB
 pixman-devel                x86_64 0.43.4-2.fc41                    fedora      49.4 KiB
 python-pip-wheel            noarch 24.2-1.fc41                      fedora       1.2 MiB
 python3                     x86_64 3.13.0-1.fc41                    fedora      31.8 KiB
 python3-libs                x86_64 3.13.0-1.fc41                    fedora      40.3 MiB
 python3-packaging           noarch 24.1-2.fc41                      fedora     422.3 KiB
 sysprof-capture-devel       x86_64 47.0-1.fc41                      fedora     252.8 KiB
 tcl                         x86_64 1:8.6.14-2.fc41                  fedora       4.2 MiB
 tcl-devel                   x86_64 1:8.6.14-2.fc41                  fedora     791.3 KiB
 tk                          x86_64 1:8.6.14-2.fc41                  fedora       3.6 MiB
 tk-devel                    x86_64 1:8.6.14-2.fc41                  fedora     984.9 KiB
 tre                         x86_64 0.8.0-45.20140228gitc2f5d13.fc41 fedora      75.9 KiB
 tre-common                  noarch 0.8.0-45.20140228gitc2f5d13.fc41 fedora      81.0 KiB
 tre-devel                   x86_64 0.8.0-45.20140228gitc2f5d13.fc41 fedora      10.7 KiB
 ttmkfdir                    x86_64 3.0.9-71.fc41                    fedora     122.7 KiB
 tzdata                      noarch 2024a-9.fc41                     fedora       1.7 MiB
 tzdata-java                 noarch 2024a-9.fc41                     fedora     101.7 KiB
 xdg-utils                   noarch 1.2.1-2.fc41                     fedora     346.3 KiB
 xml-common                  noarch 0.6.3-65.fc41                    fedora      78.4 KiB
 xorg-x11-fonts-Type1        noarch 7.5-39.fc41                      fedora     863.3 KiB
 xorg-x11-proto-devel        noarch 2024.1-3.fc41                    fedora       1.7 MiB
 xz-devel                    x86_64 1:5.6.2-2.fc41                   fedora     255.6 KiB
 zlib-ng-compat-devel        x86_64 2.1.7-3.fc41                     fedora     106.8 KiB

Transaction Summary:
 Installing:      161 packages

Total size of inbound packages is 275 MiB. Need to download 4 MiB.
After this operation 884 MiB will be used (install 884 MiB, remove 0 B).
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[161/161] Total                         100% |   4.7 MiB/s |   3.5 MiB |  00m01s
Running transaction
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>>> Running pre-transaction scriptlet: copy-jdk-configs-0:4.1-6.fc41.noarch
>>> Stop pre-transaction scriptlet: copy-jdk-configs-0:4.1-6.fc41.noarch
>>> Running pre-transaction scriptlet: java-21-openjdk-headless-1:21.0.5.0.11-1.
>>> Stop pre-transaction scriptlet: java-21-openjdk-headless-1:21.0.5.0.11-1.fc4
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[  3/163] Installing nspr-0:4.35.0-30.f 100% | 104.9 MiB/s | 322.2 KiB |  00m00s
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[ 22/163] Installing openblas-0:0.3.26- 100% |  95.5 MiB/s |  97.8 KiB |  00m00s
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[ 26/163] Installing libICE-0:1.1.1-4.f 100% |  89.2 MiB/s | 182.6 KiB |  00m00s
[ 27/163] Installing pixman-0:0.43.4-2. 100% | 234.1 MiB/s | 719.2 KiB |  00m00s
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[ 31/163] Installing make-1:4.4.1-8.fc4 100% | 200.0 MiB/s |   1.8 MiB |  00m00s
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>>> Running post-install scriptlet: nss-0:3.105.0-1.fc41.x86_64
>>> Stop post-install scriptlet: nss-0:3.105.0-1.fc41.x86_64
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>>> Running trigger-install scriptlet: redhat-rpm-config-0:293-1.fc41.noarch
>>> Stop trigger-install scriptlet: redhat-rpm-config-0:293-1.fc41.noarch
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[ 98/163] Installing gnutls-0:3.8.6-7.f 100% | 230.3 MiB/s |   3.2 MiB |  00m00s
[ 99/163] Installing glib2-0:2.82.2-1.f 100% | 272.1 MiB/s |  14.7 MiB |  00m00s
[100/163] Installing harfbuzz-0:9.0.0-3 100% | 240.9 MiB/s |   2.7 MiB |  00m00s
[101/163] Installing freetype-0:2.13.3- 100% | 166.4 MiB/s | 852.2 KiB |  00m00s
[102/163] Installing mkfontscale-0:1.2. 100% |  24.7 MiB/s |  50.6 KiB |  00m00s
[103/163] Installing ttmkfdir-0:3.0.9-7 100% |  60.4 MiB/s | 123.8 KiB |  00m00s
[104/163] Installing harfbuzz-icu-0:9.0 100% |   9.9 MiB/s |  20.3 KiB |  00m00s
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>>> Running post-install scriptlet: java-21-openjdk-headless-1:21.0.5.0.11-1.fc4
>>> Stop post-install scriptlet: java-21-openjdk-headless-1:21.0.5.0.11-1.fc41.x
[108/163] Installing google-noto-fonts- 100% |  17.8 MiB/s |  18.3 KiB |  00m00s
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>>> Running pre-install scriptlet: xml-common-0:0.6.3-65.fc41.noarch
>>> Stop pre-install scriptlet: xml-common-0:0.6.3-65.fc41.noarch
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[117/163] Installing fontconfig-0:2.15. 100% | 779.9 KiB/s | 811.1 KiB |  00m01s
>>> Running post-install scriptlet: fontconfig-0:2.15.0-8.fc41.x86_64
>>> Stop post-install scriptlet: fontconfig-0:2.15.0-8.fc41.x86_64
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>>> Running post-install scriptlet: xorg-x11-fonts-Type1-0:7.5-39.fc41.noarch
>>> Stop post-install scriptlet: xorg-x11-fonts-Type1-0:7.5-39.fc41.noarch
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[129/163] Installing libXext-0:1.3.6-2. 100% |  89.2 MiB/s |  91.3 KiB |  00m00s
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[131/163] Installing cairo-0:1.18.0-4.f 100% | 174.4 MiB/s |   1.7 MiB |  00m00s
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[133/163] Installing libXft-0:2.3.8-7.f 100% |  10.8 MiB/s | 166.0 KiB |  00m00s
>>> Running pre-install scriptlet: tk-1:8.6.14-2.fc41.x86_64
>>> Stop pre-install scriptlet: tk-1:8.6.14-2.fc41.x86_64
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>>> Running post-install scriptlet: java-21-openjdk-1:21.0.5.0.11-1.fc41.x86_64
>>> Stop post-install scriptlet: java-21-openjdk-1:21.0.5.0.11-1.fc41.x86_64
[151/163] Installing java-21-openjdk-de 100% | 229.3 MiB/s |  11.2 MiB |  00m00s
>>> Running post-install scriptlet: java-21-openjdk-devel-1:21.0.5.0.11-1.fc41.x
>>> Stop post-install scriptlet: java-21-openjdk-devel-1:21.0.5.0.11-1.fc41.x86_
[152/163] Installing less-0:661-2.fc41. 100% |  11.4 MiB/s | 408.6 KiB |  00m00s
[153/163] Installing R-core-0:4.4.1-5.f 100% | 139.1 MiB/s | 103.7 MiB |  00m01s
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[156/163] Installing R-CRAN-Rcpp-0:1.0. 100% | 139.6 MiB/s |   8.5 MiB |  00m00s
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[161/163] Installing R-CRAN-RcppEigen-0 100% | 152.3 MiB/s |   9.1 MiB |  00m00s
[162/163] Installing annobin-plugin-gcc 100% |  33.2 MiB/s | 986.7 KiB |  00m00s
>>> Running trigger-install scriptlet: redhat-rpm-config-0:293-1.fc41.noarch
>>> Stop trigger-install scriptlet: redhat-rpm-config-0:293-1.fc41.noarch
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>>> Running trigger-install scriptlet: redhat-rpm-config-0:293-1.fc41.noarch
>>> Stop trigger-install scriptlet: redhat-rpm-config-0:293-1.fc41.noarch
>>> Running post-transaction scriptlet: copy-jdk-configs-0:4.1-6.fc41.noarch
>>> Stop post-transaction scriptlet: copy-jdk-configs-0:4.1-6.fc41.noarch
>>> Running post-transaction scriptlet: java-21-openjdk-headless-1:21.0.5.0.11-1
>>> Stop post-transaction scriptlet: java-21-openjdk-headless-1:21.0.5.0.11-1.fc
>>> Running post-transaction scriptlet: fontconfig-0:2.15.0-8.fc41.x86_64
>>> Stop post-transaction scriptlet: fontconfig-0:2.15.0-8.fc41.x86_64
>>> Running post-transaction scriptlet: java-21-openjdk-1:21.0.5.0.11-1.fc41.x86
>>> Stop post-transaction scriptlet: java-21-openjdk-1:21.0.5.0.11-1.fc41.x86_64
>>> Running post-transaction scriptlet: java-21-openjdk-devel-1:21.0.5.0.11-1.fc
>>> Stop post-transaction scriptlet: java-21-openjdk-devel-1:21.0.5.0.11-1.fc41.
>>> Running trigger-install scriptlet: glibc-common-0:2.40-9.fc41.x86_64
>>> Stop trigger-install scriptlet: glibc-common-0:2.40-9.fc41.x86_64
>>> Running trigger-install scriptlet: info-0:7.1-3.fc41.x86_64
>>> Stop trigger-install scriptlet: info-0:7.1-3.fc41.x86_64
>>> Running trigger-install scriptlet: glib2-0:2.82.2-1.fc41.x86_64
>>> Stop trigger-install scriptlet: glib2-0:2.82.2-1.fc41.x86_64
>>> Running trigger-install scriptlet: glib2-0:2.82.2-1.fc41.x86_64
>>> Stop trigger-install scriptlet: glib2-0:2.82.2-1.fc41.x86_64
>>> Running trigger-install scriptlet: desktop-file-utils-0:0.27-2.fc41.x86_64
>>> Stop trigger-install scriptlet: desktop-file-utils-0:0.27-2.fc41.x86_64
>>> Running trigger-install scriptlet: fontconfig-0:2.15.0-8.fc41.x86_64
>>> Stop trigger-install scriptlet: fontconfig-0:2.15.0-8.fc41.x86_64
Warning: skipped PGP checks for 2 package(s).
Finish: build setup for R-CRAN-imuf-0.3.0-1.fc41.copr8224464.src.rpm
Start: rpmbuild R-CRAN-imuf-0.3.0-1.fc41.copr8224464.src.rpm
Building target platforms: x86_64
Building for target x86_64
warning: %source_date_epoch_from_changelog is set, but %changelog has no entries to take a date from
Executing(%mkbuilddir): /bin/sh -e /var/tmp/rpm-tmp.XXpFmV
+ umask 022
+ cd /builddir/build/BUILD/R-CRAN-imuf-0.3.0-build
+ test -d /builddir/build/BUILD/R-CRAN-imuf-0.3.0-build
+ /usr/bin/chmod -Rf a+rX,u+w,g-w,o-w /builddir/build/BUILD/R-CRAN-imuf-0.3.0-build
+ /usr/bin/rm -rf /builddir/build/BUILD/R-CRAN-imuf-0.3.0-build
+ /usr/bin/mkdir -p /builddir/build/BUILD/R-CRAN-imuf-0.3.0-build
+ /usr/bin/mkdir -p /builddir/build/BUILD/R-CRAN-imuf-0.3.0-build/SPECPARTS
+ RPM_EC=0
++ jobs -p
+ exit 0
Executing(%prep): /bin/sh -e /var/tmp/rpm-tmp.2ijWVK
+ umask 022
+ cd /builddir/build/BUILD/R-CRAN-imuf-0.3.0-build
+ cd /builddir/build/BUILD/R-CRAN-imuf-0.3.0-build
+ rm -rf imuf
+ /usr/bin/mkdir -p imuf
+ cd imuf
+ /usr/lib/rpm/rpmuncompress -x /builddir/build/SOURCES/imuf_0.3.0.tar.gz
+ STATUS=0
+ '[' 0 -ne 0 ']'
+ /usr/bin/chmod -Rf a+rX,u+w,g-w,o-w .
+ find -type f -executable -exec grep -Iq . '{}' ';' -exec sed -i -e '$a\' '{}' ';'
+ '[' -d imuf/src ']'
+ find imuf/src -type f -exec sed -i s@/usr/bin/strip@/usr/bin/true@g '{}' ';'
+ '[' -d imuf/src ']'
+ find 'imuf/src/Make*' -type f -exec sed -i s@-g0@@g '{}' ';'
find: ‘imuf/src/Make*’: No such file or directory
+ true
+ find -type f -executable -exec sed -Ei 's@#!( )*/usr/local/bin@#!/usr/bin@g' '{}' ';'
+ RPM_EC=0
++ jobs -p
+ exit 0
Executing(%build): /bin/sh -e /var/tmp/rpm-tmp.UrLlLG
+ umask 022
+ cd /builddir/build/BUILD/R-CRAN-imuf-0.3.0-build
+ CFLAGS='-O2 -flto=auto -ffat-lto-objects -fexceptions -g -grecord-gcc-switches -pipe -Wall -Werror=format-security -Wp,-U_FORTIFY_SOURCE,-D_FORTIFY_SOURCE=3 -Wp,-D_GLIBCXX_ASSERTIONS -specs=/usr/lib/rpm/redhat/redhat-hardened-cc1 -fstack-protector-strong -specs=/usr/lib/rpm/redhat/redhat-annobin-cc1  -m64 -march=x86-64 -mtune=generic -fasynchronous-unwind-tables -fstack-clash-protection -fcf-protection -mtls-dialect=gnu2 -fno-omit-frame-pointer -mno-omit-leaf-frame-pointer '
+ export CFLAGS
+ CXXFLAGS='-O2 -flto=auto -ffat-lto-objects -fexceptions -g -grecord-gcc-switches -pipe -Wall -Werror=format-security -Wp,-U_FORTIFY_SOURCE,-D_FORTIFY_SOURCE=3 -Wp,-D_GLIBCXX_ASSERTIONS -specs=/usr/lib/rpm/redhat/redhat-hardened-cc1 -fstack-protector-strong -specs=/usr/lib/rpm/redhat/redhat-annobin-cc1  -m64 -march=x86-64 -mtune=generic -fasynchronous-unwind-tables -fstack-clash-protection -fcf-protection -mtls-dialect=gnu2 -fno-omit-frame-pointer -mno-omit-leaf-frame-pointer '
+ export CXXFLAGS
+ FFLAGS='-O2 -flto=auto -ffat-lto-objects -fexceptions -g -grecord-gcc-switches -pipe -Wall -Wp,-U_FORTIFY_SOURCE,-D_FORTIFY_SOURCE=3 -Wp,-D_GLIBCXX_ASSERTIONS -specs=/usr/lib/rpm/redhat/redhat-hardened-cc1 -fstack-protector-strong -specs=/usr/lib/rpm/redhat/redhat-annobin-cc1  -m64 -march=x86-64 -mtune=generic -fasynchronous-unwind-tables -fstack-clash-protection -fcf-protection -mtls-dialect=gnu2 -fno-omit-frame-pointer -mno-omit-leaf-frame-pointer -I/usr/lib64/gfortran/modules '
+ export FFLAGS
+ FCFLAGS='-O2 -flto=auto -ffat-lto-objects -fexceptions -g -grecord-gcc-switches -pipe -Wall -Wp,-U_FORTIFY_SOURCE,-D_FORTIFY_SOURCE=3 -Wp,-D_GLIBCXX_ASSERTIONS -specs=/usr/lib/rpm/redhat/redhat-hardened-cc1 -fstack-protector-strong -specs=/usr/lib/rpm/redhat/redhat-annobin-cc1  -m64 -march=x86-64 -mtune=generic -fasynchronous-unwind-tables -fstack-clash-protection -fcf-protection -mtls-dialect=gnu2 -fno-omit-frame-pointer -mno-omit-leaf-frame-pointer -I/usr/lib64/gfortran/modules '
+ export FCFLAGS
+ VALAFLAGS=-g
+ export VALAFLAGS
+ RUSTFLAGS='-Copt-level=3 -Cdebuginfo=2 -Ccodegen-units=1 -Cstrip=none -Cforce-frame-pointers=yes -Clink-arg=-specs=/usr/lib/rpm/redhat/redhat-package-notes --cap-lints=warn'
+ export RUSTFLAGS
+ LDFLAGS='-Wl,-z,relro -Wl,--as-needed  -Wl,-z,pack-relative-relocs -Wl,-z,now -specs=/usr/lib/rpm/redhat/redhat-hardened-ld -specs=/usr/lib/rpm/redhat/redhat-annobin-cc1  -Wl,--build-id=sha1 -specs=/usr/lib/rpm/redhat/redhat-package-notes '
+ export LDFLAGS
+ LT_SYS_LIBRARY_PATH=/usr/lib64:
+ export LT_SYS_LIBRARY_PATH
+ CC=gcc
+ export CC
+ CXX=g++
+ export CXX
+ cd imuf
+ RPM_EC=0
++ jobs -p
+ exit 0
Executing(%install): /bin/sh -e /var/tmp/rpm-tmp.K2kVge
+ umask 022
+ cd /builddir/build/BUILD/R-CRAN-imuf-0.3.0-build
+ '[' /builddir/build/BUILD/R-CRAN-imuf-0.3.0-build/BUILDROOT '!=' / ']'
+ rm -rf /builddir/build/BUILD/R-CRAN-imuf-0.3.0-build/BUILDROOT
++ dirname /builddir/build/BUILD/R-CRAN-imuf-0.3.0-build/BUILDROOT
+ mkdir -p /builddir/build/BUILD/R-CRAN-imuf-0.3.0-build
+ mkdir /builddir/build/BUILD/R-CRAN-imuf-0.3.0-build/BUILDROOT
+ CFLAGS='-O2 -flto=auto -ffat-lto-objects -fexceptions -g -grecord-gcc-switches -pipe -Wall -Werror=format-security -Wp,-U_FORTIFY_SOURCE,-D_FORTIFY_SOURCE=3 -Wp,-D_GLIBCXX_ASSERTIONS -specs=/usr/lib/rpm/redhat/redhat-hardened-cc1 -fstack-protector-strong -specs=/usr/lib/rpm/redhat/redhat-annobin-cc1  -m64 -march=x86-64 -mtune=generic -fasynchronous-unwind-tables -fstack-clash-protection -fcf-protection -mtls-dialect=gnu2 -fno-omit-frame-pointer -mno-omit-leaf-frame-pointer '
+ export CFLAGS
+ CXXFLAGS='-O2 -flto=auto -ffat-lto-objects -fexceptions -g -grecord-gcc-switches -pipe -Wall -Werror=format-security -Wp,-U_FORTIFY_SOURCE,-D_FORTIFY_SOURCE=3 -Wp,-D_GLIBCXX_ASSERTIONS -specs=/usr/lib/rpm/redhat/redhat-hardened-cc1 -fstack-protector-strong -specs=/usr/lib/rpm/redhat/redhat-annobin-cc1  -m64 -march=x86-64 -mtune=generic -fasynchronous-unwind-tables -fstack-clash-protection -fcf-protection -mtls-dialect=gnu2 -fno-omit-frame-pointer -mno-omit-leaf-frame-pointer '
+ export CXXFLAGS
+ FFLAGS='-O2 -flto=auto -ffat-lto-objects -fexceptions -g -grecord-gcc-switches -pipe -Wall -Wp,-U_FORTIFY_SOURCE,-D_FORTIFY_SOURCE=3 -Wp,-D_GLIBCXX_ASSERTIONS -specs=/usr/lib/rpm/redhat/redhat-hardened-cc1 -fstack-protector-strong -specs=/usr/lib/rpm/redhat/redhat-annobin-cc1  -m64 -march=x86-64 -mtune=generic -fasynchronous-unwind-tables -fstack-clash-protection -fcf-protection -mtls-dialect=gnu2 -fno-omit-frame-pointer -mno-omit-leaf-frame-pointer -I/usr/lib64/gfortran/modules '
+ export FFLAGS
+ FCFLAGS='-O2 -flto=auto -ffat-lto-objects -fexceptions -g -grecord-gcc-switches -pipe -Wall -Wp,-U_FORTIFY_SOURCE,-D_FORTIFY_SOURCE=3 -Wp,-D_GLIBCXX_ASSERTIONS -specs=/usr/lib/rpm/redhat/redhat-hardened-cc1 -fstack-protector-strong -specs=/usr/lib/rpm/redhat/redhat-annobin-cc1  -m64 -march=x86-64 -mtune=generic -fasynchronous-unwind-tables -fstack-clash-protection -fcf-protection -mtls-dialect=gnu2 -fno-omit-frame-pointer -mno-omit-leaf-frame-pointer -I/usr/lib64/gfortran/modules '
+ export FCFLAGS
+ VALAFLAGS=-g
+ export VALAFLAGS
+ RUSTFLAGS='-Copt-level=3 -Cdebuginfo=2 -Ccodegen-units=1 -Cstrip=none -Cforce-frame-pointers=yes -Clink-arg=-specs=/usr/lib/rpm/redhat/redhat-package-notes --cap-lints=warn'
+ export RUSTFLAGS
+ LDFLAGS='-Wl,-z,relro -Wl,--as-needed  -Wl,-z,pack-relative-relocs -Wl,-z,now -specs=/usr/lib/rpm/redhat/redhat-hardened-ld -specs=/usr/lib/rpm/redhat/redhat-annobin-cc1  -Wl,--build-id=sha1 -specs=/usr/lib/rpm/redhat/redhat-package-notes '
+ export LDFLAGS
+ LT_SYS_LIBRARY_PATH=/usr/lib64:
+ export LT_SYS_LIBRARY_PATH
+ CC=gcc
+ export CC
+ CXX=g++
+ export CXX
+ cd imuf
+ mkdir -p /builddir/build/BUILD/R-CRAN-imuf-0.3.0-build/BUILDROOT/usr/local/lib/R/library
+ /usr/bin/R CMD INSTALL -l /builddir/build/BUILD/R-CRAN-imuf-0.3.0-build/BUILDROOT/usr/local/lib/R/library imuf
* installing *source* package ‘imuf’ ...
** package ‘imuf’ successfully unpacked and MD5 sums checked
** using staged installation
** libs
using C++ compiler: ‘g++ (GCC) 14.2.1 20240912 (Red Hat 14.2.1-3)’
g++ -std=gnu++17 -I"/usr/include/R" -DNDEBUG  -I'/usr/local/lib/R/library/Rcpp/include' -I'/usr/local/lib/R/library/RcppEigen/include' -I/usr/local/include    -fpic  -O2 -flto=auto -ffat-lto-objects -fexceptions -g -grecord-gcc-switches -pipe -Wall -Werror=format-security -Wp,-U_FORTIFY_SOURCE,-D_FORTIFY_SOURCE=3 -Wp,-D_GLIBCXX_ASSERTIONS -specs=/usr/lib/rpm/redhat/redhat-hardened-cc1 -fstack-protector-strong -specs=/usr/lib/rpm/redhat/redhat-annobin-cc1  -m64 -march=x86-64 -mtune=generic -fasynchronous-unwind-tables -fstack-clash-protection -fcf-protection -mtls-dialect=gnu2 -fno-omit-frame-pointer -mno-omit-leaf-frame-pointer    -c RcppExports.cpp -o RcppExports.o
In file included from /usr/local/lib/R/library/RcppEigen/include/Eigen/Core:205,
                 from /usr/local/lib/R/library/RcppEigen/include/Eigen/Dense:1,
                 from /usr/local/lib/R/library/RcppEigen/include/RcppEigenForward.h:28,
                 from /usr/local/lib/R/library/RcppEigen/include/RcppEigen.h:25,
                 from RcppExports.cpp:4:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/arch/SSE/PacketMath.h:46:40: warning: ignoring attributes on template argument ‘__m128i’ [-Wignored-attributes]
   46 | typedef eigen_packet_wrapper<__m128i, 0> Packet4i;
      |                                        ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/arch/SSE/PacketMath.h:47:40: warning: ignoring attributes on template argument ‘__m128i’ [-Wignored-attributes]
   47 | typedef eigen_packet_wrapper<__m128i, 1> Packet16b;
      |                                        ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/arch/SSE/PacketMath.h:49:39: warning: ignoring attributes on template argument ‘__m128’ [-Wignored-attributes]
   49 | template<> struct is_arithmetic<__m128>  { enum { value = true }; };
      |                                       ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/arch/SSE/PacketMath.h:50:40: warning: ignoring attributes on template argument ‘__m128i’ [-Wignored-attributes]
   50 | template<> struct is_arithmetic<__m128i> { enum { value = true }; };
      |                                        ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/arch/SSE/PacketMath.h:51:40: warning: ignoring attributes on template argument ‘__m128d’ [-Wignored-attributes]
   51 | template<> struct is_arithmetic<__m128d> { enum { value = true }; };
      |                                        ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/arch/SSE/PacketMath.h:222:43: warning: ignoring attributes on template argument ‘Eigen::internal::Packet4f’ {aka ‘__m128’} [-Wignored-attributes]
  222 | template<> struct unpacket_traits<Packet4f> {
      |                                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/arch/SSE/PacketMath.h:228:43: warning: ignoring attributes on template argument ‘Eigen::internal::Packet2d’ {aka ‘__m128d’} [-Wignored-attributes]
  228 | template<> struct unpacket_traits<Packet2d> {
      |                                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/arch/SSE/PacketMath.h:1124:34: warning: ignoring attributes on template argument ‘Eigen::internal::Packet4f’ {aka ‘__m128’} [-Wignored-attributes]
 1124 | ptranspose(PacketBlock<Packet4f,4>& kernel) {
      |                                  ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/arch/SSE/PacketMath.h:1129:34: warning: ignoring attributes on template argument ‘Eigen::internal::Packet2d’ {aka ‘__m128d’} [-Wignored-attributes]
 1129 | ptranspose(PacketBlock<Packet2d,2>& kernel) {
      |                                  ^
In file included from /usr/local/lib/R/library/RcppEigen/include/Eigen/Core:174:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/arch/Default/ConjHelper.h:16:60: warning: ignoring attributes on template argument ‘Eigen::internal::Packet4f’ {aka ‘__m128’} [-Wignored-attributes]
   16 |   struct conj_helper<PACKET_REAL, PACKET_CPLX, false, false> {          \
      |                                                            ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/arch/SSE/Complex.h:173:1: note: in expansion of macro ‘EIGEN_MAKE_CONJ_HELPER_CPLX_REAL’
  173 | EIGEN_MAKE_CONJ_HELPER_CPLX_REAL(Packet2cf,Packet4f)
      | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/arch/Default/ConjHelper.h:29:60: warning: ignoring attributes on template argument ‘Eigen::internal::Packet4f’ {aka ‘__m128’} [-Wignored-attributes]
   29 |   struct conj_helper<PACKET_CPLX, PACKET_REAL, false, false> {          \
      |                                                            ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/arch/SSE/Complex.h:173:1: note: in expansion of macro ‘EIGEN_MAKE_CONJ_HELPER_CPLX_REAL’
  173 | EIGEN_MAKE_CONJ_HELPER_CPLX_REAL(Packet2cf,Packet4f)
      | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/arch/Default/ConjHelper.h:16:60: warning: ignoring attributes on template argument ‘Eigen::internal::Packet2d’ {aka ‘__m128d’} [-Wignored-attributes]
   16 |   struct conj_helper<PACKET_REAL, PACKET_CPLX, false, false> {          \
      |                                                            ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/arch/SSE/Complex.h:298:1: note: in expansion of macro ‘EIGEN_MAKE_CONJ_HELPER_CPLX_REAL’
  298 | EIGEN_MAKE_CONJ_HELPER_CPLX_REAL(Packet1cd,Packet2d)
      | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/arch/Default/ConjHelper.h:29:60: warning: ignoring attributes on template argument ‘Eigen::internal::Packet2d’ {aka ‘__m128d’} [-Wignored-attributes]
   29 |   struct conj_helper<PACKET_CPLX, PACKET_REAL, false, false> {          \
      |                                                            ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/arch/SSE/Complex.h:298:1: note: in expansion of macro ‘EIGEN_MAKE_CONJ_HELPER_CPLX_REAL’
  298 | EIGEN_MAKE_CONJ_HELPER_CPLX_REAL(Packet1cd,Packet2d)
      | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /usr/local/lib/R/library/RcppEigen/include/Eigen/Core:165:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h: In instantiation of ‘struct Eigen::internal::find_best_packet<float, 4>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Matrix.h:22:57:   required from ‘struct Eigen::internal::traits<Eigen::Matrix<float, 4, 1> >’
   22 |   typedef typename find_best_packet<_Scalar,size>::type PacketScalar;
      |                                                         ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:266:49:   required from ‘struct Eigen::internal::traits<Eigen::Quaternion<float> >’
  266 |     Alignment = internal::traits<Coefficients>::Alignment,
      |                                                 ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/arch/Geometry_SIMD.h:24:46:   required from here
   24 |     ResAlignment = traits<Quaternion<float> >::Alignment
      |                                              ^~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:44: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<float>::type’ {aka ‘__m128’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                                       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<float>::type’ {aka ‘__m128’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<float>::type’ {aka ‘__m128’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(4) float>::half’ {aka ‘__m128’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:208:88: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<float>::type’ {aka ‘__m128’} [-Wignored-attributes]
  208 |   typedef typename find_best_packet_helper<Size,typename packet_traits<T>::type>::type type;
      |                                                                                        ^~~~
In file included from /usr/local/lib/R/library/RcppEigen/include/Eigen/Core:271:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<float, 4, 1>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<float, 4, 1>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<float, 4, 1>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<float, 4, 1> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<float, 4, 1> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<float, 4, 1> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from ‘class Eigen::Matrix<float, 4, 1>’
  178 | class Matrix
      |       ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:46:50:   required from ‘class Eigen::QuaternionBase<Eigen::Quaternion<float> >’
   46 |   typedef typename Coefficients::CoeffReturnType CoeffReturnType;
      |                                                  ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:273:7:   required from ‘class Eigen::Quaternion<float>’
  273 | class Quaternion : public QuaternionBase<Quaternion<_Scalar,_Options> >
      |       ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/arch/Geometry_SIMD.h:27:3:   required from here
   27 |   {
      |   ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<float>::type’ {aka ‘__m128’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h: In instantiation of ‘struct Eigen::internal::find_best_packet<double, 4>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Matrix.h:22:57:   required from ‘struct Eigen::internal::traits<Eigen::Matrix<double, 4, 1> >’
   22 |   typedef typename find_best_packet<_Scalar,size>::type PacketScalar;
      |                                                         ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:266:49:   required from ‘struct Eigen::internal::traits<Eigen::Quaternion<double> >’
  266 |     Alignment = internal::traits<Coefficients>::Alignment,
      |                                                 ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/arch/Geometry_SIMD.h:98:47:   required from here
   98 |     ResAlignment = traits<Quaternion<double> >::Alignment
      |                                               ^~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:44: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                                       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:208:88: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  208 |   typedef typename find_best_packet_helper<Size,typename packet_traits<T>::type>::type type;
      |                                                                                        ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 4, 1>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 4, 1>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 4, 1>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, 4, 1> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, 4, 1> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, 4, 1> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from ‘class Eigen::Matrix<double, 4, 1>’
  178 | class Matrix
      |       ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:46:50:   required from ‘class Eigen::QuaternionBase<Eigen::Quaternion<double> >’
   46 |   typedef typename Coefficients::CoeffReturnType CoeffReturnType;
      |                                                  ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:273:7:   required from ‘class Eigen::Quaternion<double>’
  273 | class Quaternion : public QuaternionBase<Quaternion<_Scalar,_Options> >
      |       ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/arch/Geometry_SIMD.h:102:3:   required from here
  102 |   {
      |   ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
In file included from /usr/local/lib/R/library/RcppEigen/include/Eigen/SparseCore:37,
                 from /usr/local/lib/R/library/RcppEigen/include/Eigen/Sparse:26,
                 from /usr/local/lib/R/library/RcppEigen/include/RcppEigenForward.h:29:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SparseCore/SparseMatrixBase.h: In instantiation of ‘class Eigen::SparseMatrixBase<Eigen::SparseMatrix<double, 0, int> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SparseCore/SparseCompressedBase.h:36:7:   required from ‘class Eigen::SparseCompressedBase<Eigen::SparseMatrix<double, 0, int> >’
   36 | class SparseCompressedBase
      |       ^~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SparseCore/SparseMatrix.h:96:7:   required from ‘class Eigen::SparseMatrix<double, 0, int>’
   96 | class SparseMatrix
      |       ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/unsupported/Eigen/src/IterativeSolvers/ConstrainedConjGrad.h:61:25:   required from here
   61 |   typedef Triplet<double> T;
      |                         ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SparseCore/SparseMatrixBase.h:47:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   47 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
g++ -std=gnu++17 -I"/usr/include/R" -DNDEBUG  -I'/usr/local/lib/R/library/Rcpp/include' -I'/usr/local/lib/R/library/RcppEigen/include' -I/usr/local/include    -fpic  -O2 -flto=auto -ffat-lto-objects -fexceptions -g -grecord-gcc-switches -pipe -Wall -Werror=format-security -Wp,-U_FORTIFY_SOURCE,-D_FORTIFY_SOURCE=3 -Wp,-D_GLIBCXX_ASSERTIONS -specs=/usr/lib/rpm/redhat/redhat-hardened-cc1 -fstack-protector-strong -specs=/usr/lib/rpm/redhat/redhat-annobin-cc1  -m64 -march=x86-64 -mtune=generic -fasynchronous-unwind-tables -fstack-clash-protection -fcf-protection -mtls-dialect=gnu2 -fno-omit-frame-pointer -mno-omit-leaf-frame-pointer    -c imuf.cpp -o imuf.o
In file included from /usr/local/lib/R/library/RcppEigen/include/Eigen/Core:205,
                 from /usr/local/lib/R/library/RcppEigen/include/Eigen/Dense:1,
                 from /usr/local/lib/R/library/RcppEigen/include/RcppEigenForward.h:28,
                 from /usr/local/lib/R/library/RcppEigen/include/RcppEigen.h:25,
                 from imuf.cpp:2:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/arch/SSE/PacketMath.h:46:40: warning: ignoring attributes on template argument ‘__m128i’ [-Wignored-attributes]
   46 | typedef eigen_packet_wrapper<__m128i, 0> Packet4i;
      |                                        ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/arch/SSE/PacketMath.h:47:40: warning: ignoring attributes on template argument ‘__m128i’ [-Wignored-attributes]
   47 | typedef eigen_packet_wrapper<__m128i, 1> Packet16b;
      |                                        ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/arch/SSE/PacketMath.h:49:39: warning: ignoring attributes on template argument ‘__m128’ [-Wignored-attributes]
   49 | template<> struct is_arithmetic<__m128>  { enum { value = true }; };
      |                                       ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/arch/SSE/PacketMath.h:50:40: warning: ignoring attributes on template argument ‘__m128i’ [-Wignored-attributes]
   50 | template<> struct is_arithmetic<__m128i> { enum { value = true }; };
      |                                        ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/arch/SSE/PacketMath.h:51:40: warning: ignoring attributes on template argument ‘__m128d’ [-Wignored-attributes]
   51 | template<> struct is_arithmetic<__m128d> { enum { value = true }; };
      |                                        ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/arch/SSE/PacketMath.h:222:43: warning: ignoring attributes on template argument ‘Eigen::internal::Packet4f’ {aka ‘__m128’} [-Wignored-attributes]
  222 | template<> struct unpacket_traits<Packet4f> {
      |                                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/arch/SSE/PacketMath.h:228:43: warning: ignoring attributes on template argument ‘Eigen::internal::Packet2d’ {aka ‘__m128d’} [-Wignored-attributes]
  228 | template<> struct unpacket_traits<Packet2d> {
      |                                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/arch/SSE/PacketMath.h:1124:34: warning: ignoring attributes on template argument ‘Eigen::internal::Packet4f’ {aka ‘__m128’} [-Wignored-attributes]
 1124 | ptranspose(PacketBlock<Packet4f,4>& kernel) {
      |                                  ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/arch/SSE/PacketMath.h:1129:34: warning: ignoring attributes on template argument ‘Eigen::internal::Packet2d’ {aka ‘__m128d’} [-Wignored-attributes]
 1129 | ptranspose(PacketBlock<Packet2d,2>& kernel) {
      |                                  ^
In file included from /usr/local/lib/R/library/RcppEigen/include/Eigen/Core:174:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/arch/Default/ConjHelper.h:16:60: warning: ignoring attributes on template argument ‘Eigen::internal::Packet4f’ {aka ‘__m128’} [-Wignored-attributes]
   16 |   struct conj_helper<PACKET_REAL, PACKET_CPLX, false, false> {          \
      |                                                            ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/arch/SSE/Complex.h:173:1: note: in expansion of macro ‘EIGEN_MAKE_CONJ_HELPER_CPLX_REAL’
  173 | EIGEN_MAKE_CONJ_HELPER_CPLX_REAL(Packet2cf,Packet4f)
      | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/arch/Default/ConjHelper.h:29:60: warning: ignoring attributes on template argument ‘Eigen::internal::Packet4f’ {aka ‘__m128’} [-Wignored-attributes]
   29 |   struct conj_helper<PACKET_CPLX, PACKET_REAL, false, false> {          \
      |                                                            ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/arch/SSE/Complex.h:173:1: note: in expansion of macro ‘EIGEN_MAKE_CONJ_HELPER_CPLX_REAL’
  173 | EIGEN_MAKE_CONJ_HELPER_CPLX_REAL(Packet2cf,Packet4f)
      | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/arch/Default/ConjHelper.h:16:60: warning: ignoring attributes on template argument ‘Eigen::internal::Packet2d’ {aka ‘__m128d’} [-Wignored-attributes]
   16 |   struct conj_helper<PACKET_REAL, PACKET_CPLX, false, false> {          \
      |                                                            ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/arch/SSE/Complex.h:298:1: note: in expansion of macro ‘EIGEN_MAKE_CONJ_HELPER_CPLX_REAL’
  298 | EIGEN_MAKE_CONJ_HELPER_CPLX_REAL(Packet1cd,Packet2d)
      | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/arch/Default/ConjHelper.h:29:60: warning: ignoring attributes on template argument ‘Eigen::internal::Packet2d’ {aka ‘__m128d’} [-Wignored-attributes]
   29 |   struct conj_helper<PACKET_CPLX, PACKET_REAL, false, false> {          \
      |                                                            ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/arch/SSE/Complex.h:298:1: note: in expansion of macro ‘EIGEN_MAKE_CONJ_HELPER_CPLX_REAL’
  298 | EIGEN_MAKE_CONJ_HELPER_CPLX_REAL(Packet1cd,Packet2d)
      | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /usr/local/lib/R/library/RcppEigen/include/Eigen/Core:165:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h: In instantiation of ‘struct Eigen::internal::find_best_packet<float, 4>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Matrix.h:22:57:   required from ‘struct Eigen::internal::traits<Eigen::Matrix<float, 4, 1> >’
   22 |   typedef typename find_best_packet<_Scalar,size>::type PacketScalar;
      |                                                         ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:266:49:   required from ‘struct Eigen::internal::traits<Eigen::Quaternion<float> >’
  266 |     Alignment = internal::traits<Coefficients>::Alignment,
      |                                                 ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/arch/Geometry_SIMD.h:24:46:   required from here
   24 |     ResAlignment = traits<Quaternion<float> >::Alignment
      |                                              ^~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:44: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<float>::type’ {aka ‘__m128’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                                       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<float>::type’ {aka ‘__m128’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<float>::type’ {aka ‘__m128’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(4) float>::half’ {aka ‘__m128’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:208:88: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<float>::type’ {aka ‘__m128’} [-Wignored-attributes]
  208 |   typedef typename find_best_packet_helper<Size,typename packet_traits<T>::type>::type type;
      |                                                                                        ^~~~
In file included from /usr/local/lib/R/library/RcppEigen/include/Eigen/Core:271:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<float, 4, 1>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<float, 4, 1>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<float, 4, 1>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<float, 4, 1> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<float, 4, 1> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<float, 4, 1> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from ‘class Eigen::Matrix<float, 4, 1>’
  178 | class Matrix
      |       ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:46:50:   required from ‘class Eigen::QuaternionBase<Eigen::Quaternion<float> >’
   46 |   typedef typename Coefficients::CoeffReturnType CoeffReturnType;
      |                                                  ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:273:7:   required from ‘class Eigen::Quaternion<float>’
  273 | class Quaternion : public QuaternionBase<Quaternion<_Scalar,_Options> >
      |       ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/arch/Geometry_SIMD.h:27:3:   required from here
   27 |   {
      |   ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<float>::type’ {aka ‘__m128’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h: In instantiation of ‘struct Eigen::internal::find_best_packet<double, 4>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Matrix.h:22:57:   required from ‘struct Eigen::internal::traits<Eigen::Matrix<double, 4, 1> >’
   22 |   typedef typename find_best_packet<_Scalar,size>::type PacketScalar;
      |                                                         ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:266:49:   required from ‘struct Eigen::internal::traits<Eigen::Quaternion<double> >’
  266 |     Alignment = internal::traits<Coefficients>::Alignment,
      |                                                 ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/arch/Geometry_SIMD.h:98:47:   required from here
   98 |     ResAlignment = traits<Quaternion<double> >::Alignment
      |                                               ^~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:44: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                                       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:208:88: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  208 |   typedef typename find_best_packet_helper<Size,typename packet_traits<T>::type>::type type;
      |                                                                                        ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 4, 1>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 4, 1>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 4, 1>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, 4, 1> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, 4, 1> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, 4, 1> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from ‘class Eigen::Matrix<double, 4, 1>’
  178 | class Matrix
      |       ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:46:50:   required from ‘class Eigen::QuaternionBase<Eigen::Quaternion<double> >’
   46 |   typedef typename Coefficients::CoeffReturnType CoeffReturnType;
      |                                                  ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:273:7:   required from ‘class Eigen::Quaternion<double>’
  273 | class Quaternion : public QuaternionBase<Quaternion<_Scalar,_Options> >
      |       ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/arch/Geometry_SIMD.h:102:3:   required from here
  102 |   {
      |   ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
In file included from /usr/local/lib/R/library/RcppEigen/include/Eigen/SparseCore:37,
                 from /usr/local/lib/R/library/RcppEigen/include/Eigen/Sparse:26,
                 from /usr/local/lib/R/library/RcppEigen/include/RcppEigenForward.h:29:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SparseCore/SparseMatrixBase.h: In instantiation of ‘class Eigen::SparseMatrixBase<Eigen::SparseMatrix<double, 0, int> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SparseCore/SparseCompressedBase.h:36:7:   required from ‘class Eigen::SparseCompressedBase<Eigen::SparseMatrix<double, 0, int> >’
   36 | class SparseCompressedBase
      |       ^~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SparseCore/SparseMatrix.h:96:7:   required from ‘class Eigen::SparseMatrix<double, 0, int>’
   96 | class SparseMatrix
      |       ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/unsupported/Eigen/src/IterativeSolvers/ConstrainedConjGrad.h:61:25:   required from here
   61 |   typedef Triplet<double> T;
      |                         ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SparseCore/SparseMatrixBase.h:47:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   47 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h: In instantiation of ‘struct Eigen::internal::find_best_packet<double, -1>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Matrix.h:22:57:   required from ‘struct Eigen::internal::traits<Eigen::Matrix<double, -1, 1> >’
   22 |   typedef typename find_best_packet<_Scalar,size>::type PacketScalar;
      |                                                         ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, -1, 1> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from ‘class Eigen::Matrix<double, -1, 1>’
  178 | class Matrix
      |       ^~~~~~
imuf.cpp:9:41:   required from here
    9 | VectorXd numericVecToVec(NumericVector v) {
      |                                         ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:44: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                                       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:208:88: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  208 |   typedef typename find_best_packet_helper<Size,typename packet_traits<T>::type>::type type;
      |                                                                                        ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, 1>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, 1>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, 1>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, -1, 1> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, -1, 1> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, -1, 1> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from ‘class Eigen::Matrix<double, -1, 1>’
  178 | class Matrix
      |       ^~~~~~
imuf.cpp:9:41:   required from here
    9 | VectorXd numericVecToVec(NumericVector v) {
      |                                         ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:38:28:   required from ‘struct Eigen::internal::traits<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, 4, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> > > >’
   38 |                    >::type Scalar;
      |                            ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, 4, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> >, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, 4, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> > >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
imuf.cpp:29:40:   required from here
   29 |   Quaternion<double> qout(q.coeffs() * d);
      |                                        ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, 4, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> > >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, 4, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> > > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, 4, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> > > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, 4, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> >, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, 4, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> > >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
imuf.cpp:29:40:   required from here
   29 |   Quaternion<double> qout(q.coeffs() * d);
      |                                        ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h: In instantiation of ‘struct Eigen::internal::find_best_packet<double, 3>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Matrix.h:22:57:   required from ‘struct Eigen::internal::traits<Eigen::Matrix<double, 3, 1> >’
   22 |   typedef typename find_best_packet<_Scalar,size>::type PacketScalar;
      |                                                         ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 1> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from ‘class Eigen::Matrix<double, 3, 1>’
  178 | class Matrix
      |       ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/AngleAxis.h:66:11:   required from ‘class Eigen::AngleAxis<double>’
   66 |   Vector3 m_axis;
      |           ^~~~~~
imuf.cpp:29:41:   required from here
   29 |   Quaternion<double> qout(q.coeffs() * d);
      |                                         ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:44: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                                       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:208:88: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  208 |   typedef typename find_best_packet_helper<Size,typename packet_traits<T>::type>::type type;
      |                                                                                        ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 3, 1>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 3, 1>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 3, 1>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, 3, 1> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, 3, 1> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 1> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from ‘class Eigen::Matrix<double, 3, 1>’
  178 | class Matrix
      |       ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/AngleAxis.h:66:11:   required from ‘class Eigen::AngleAxis<double>’
   66 |   Vector3 m_axis;
      |           ^~~~~~
imuf.cpp:29:41:   required from here
   29 |   Quaternion<double> qout(q.coeffs() * d);
      |                                         ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h: In instantiation of ‘struct Eigen::internal::find_best_packet<double, 9>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Matrix.h:22:57:   required from ‘struct Eigen::internal::traits<Eigen::Matrix<double, 3, 3> >’
   22 |   typedef typename find_best_packet<_Scalar,size>::type PacketScalar;
      |                                                         ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DiagonalMatrix.h:129:8:   required from ‘struct Eigen::internal::traits<Eigen::DiagonalMatrix<double, 3> >’
  129 | struct traits<DiagonalMatrix<_Scalar,SizeAtCompileTime,MaxSizeAtCompileTime> >
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/EigenBase.h:42:59:   required from ‘struct Eigen::EigenBase<Eigen::DiagonalMatrix<double, 3> >’
   42 |   typedef typename internal::traits<Derived>::StorageKind StorageKind;
      |                                                           ^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DiagonalMatrix.h:18:7:   required from ‘class Eigen::DiagonalBase<Eigen::DiagonalMatrix<double, 3> >’
   18 | class DiagonalBase : public EigenBase<Derived>
      |       ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DiagonalMatrix.h:140:7:   required from ‘class Eigen::DiagonalMatrix<double, 3>’
  140 | class DiagonalMatrix
      |       ^~~~~~~~~~~~~~
imuf.cpp:75:25:   required from here
   75 |     qt1 = qt * cos(delta) + qt * 1 / gyrQuatNorm * sin(delta) * gyrQuat;
      |                         ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:44: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                                       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:208:88: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  208 |   typedef typename find_best_packet_helper<Size,typename packet_traits<T>::type>::type type;
      |                                                                                        ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> >, const Eigen::Matrix<double, 4, 1> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> >, const Eigen::Matrix<double, 4, 1> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> >, const Eigen::Matrix<double, 4, 1> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> >, const Eigen::Matrix<double, 4, 1>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> >, const Eigen::Matrix<double, 4, 1> >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:809:36:   required from ‘Eigen::Quaternion<typename Eigen::internal::traits<T>::Scalar> Eigen::QuaternionBase<Derived>::slerp(const Scalar&, const Eigen::QuaternionBase<OtherDerived>&) const [with OtherDerived = Eigen::Quaternion<double>; Derived = Eigen::Quaternion<double>; typename Eigen::internal::traits<T>::Scalar = double; Scalar = double]’
  809 |   return Quaternion<Scalar>(scale0 * coeffs() + scale1 * other.coeffs());
      |                             ~~~~~~~^~~~~~~~~~
imuf.cpp:87:38:   required from here
   87 |   Quaternion<double> qout = qt1.slerp(gain, qAdj * qt1);
      |                             ~~~~~~~~~^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, double>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> >, const Eigen::Matrix<double, 4, 1> >, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> >, const Eigen::Matrix<double, 4, 1> > >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, double>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> >, const Eigen::Matrix<double, 4, 1> >, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> >, const Eigen::Matrix<double, 4, 1> > > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, double>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> >, const Eigen::Matrix<double, 4, 1> >, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> >, const Eigen::Matrix<double, 4, 1> > > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_sum_op<double, double>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> >, const Eigen::Matrix<double, 4, 1> >, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> >, const Eigen::Matrix<double, 4, 1> >, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, double>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> >, const Eigen::Matrix<double, 4, 1> >, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 4, 1> >, const Eigen::Matrix<double, 4, 1> > >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:809:47:   required from ‘Eigen::Quaternion<typename Eigen::internal::traits<T>::Scalar> Eigen::QuaternionBase<Derived>::slerp(const Scalar&, const Eigen::QuaternionBase<OtherDerived>&) const [with OtherDerived = Eigen::Quaternion<double>; Derived = Eigen::Quaternion<double>; typename Eigen::internal::traits<T>::Scalar = double; Scalar = double]’
  809 |   return Quaternion<Scalar>(scale0 * coeffs() + scale1 * other.coeffs());
      |                             ~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~
imuf.cpp:87:38:   required from here
   87 |   Quaternion<double> qout = qt1.slerp(gain, qAdj * qt1);
      |                             ~~~~~~~~~^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h: In instantiation of ‘struct Eigen::internal::find_best_packet<double, 6>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Matrix.h:22:57:   required from ‘struct Eigen::internal::traits<Eigen::Matrix<double, 2, 3, 0, 2, 3> >’
   22 |   typedef typename find_best_packet<_Scalar,size>::type PacketScalar;
      |                                                         ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, 2, 3, 0, 2, 3> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from ‘class Eigen::Matrix<double, 2, 3, 0, 2, 3>’
  178 | class Matrix
      |       ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:656:24:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  656 |     Matrix<Scalar,2,3> m; m << v0.transpose(), v1.transpose();
      |                        ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:44: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                                       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:208:88: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  208 |   typedef typename find_best_packet_helper<Size,typename packet_traits<T>::type>::type type;
      |                                                                                        ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, 2, 3, 0, 2, 3> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, 2, 3, 0, 2, 3> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, 2, 3, 0, 2, 3> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from ‘class Eigen::Matrix<double, 2, 3, 0, 2, 3>’
  178 | class Matrix
      |       ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:656:24:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  656 |     Matrix<Scalar,2,3> m; m << v0.transpose(), v1.transpose();
      |                        ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<Eigen::Matrix<double, 3, 1> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<Eigen::Matrix<double, 3, 1> >, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<Eigen::Matrix<double, 3, 1> >, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Transpose<Eigen::Matrix<double, 3, 1> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Transpose<Eigen::Matrix<double, 3, 1> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Transpose.h:118:37:   required from ‘class Eigen::TransposeImpl<Eigen::Matrix<double, 3, 1>, Eigen::Dense>’
  118 | template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
      |                                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Transpose.h:52:37:   required from ‘class Eigen::Transpose<Eigen::Matrix<double, 3, 1> >’
   52 | template<typename MatrixType> class Transpose
      |                                     ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:656:44:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  656 |     Matrix<Scalar,2,3> m; m << v0.transpose(), v1.transpose();
      |                                ~~~~~~~~~~~~^~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 2, 2>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 2, 2>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 2, 2>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, 2, 2> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, 2, 2> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, 2, 2> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from ‘class Eigen::Matrix<double, 2, 2>’
  178 | class Matrix
      |       ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/SVDBase.h:272:15:   required from ‘class Eigen::SVDBase<Eigen::JacobiSVD<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 2> >’
  272 |   MatrixUType m_matrixU;
      |               ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:488:60:   required from ‘class Eigen::JacobiSVD<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 2>’
  488 | template<typename _MatrixType, int QRPreconditioner> class JacobiSVD
      |                                                            ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 3, 3>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 3, 3>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 3, 3>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, 3, 3> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, 3, 3> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, 3, 3> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from ‘class Eigen::Matrix<double, 3, 3>’
  178 | class Matrix
      |       ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/SVDBase.h:273:15:   required from ‘class Eigen::SVDBase<Eigen::JacobiSVD<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 2> >’
  273 |   MatrixVType m_matrixV;
      |               ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:488:60:   required from ‘class Eigen::JacobiSVD<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 2>’
  488 | template<typename _MatrixType, int QRPreconditioner> class JacobiSVD
      |                                                            ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h: In instantiation of ‘struct Eigen::internal::find_best_packet<double, 2>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Matrix.h:22:57:   required from ‘struct Eigen::internal::traits<Eigen::Matrix<double, 2, 1> >’
   22 |   typedef typename find_best_packet<_Scalar,size>::type PacketScalar;
      |                                                         ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, 2, 1> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from ‘class Eigen::Matrix<double, 2, 1>’
  178 | class Matrix
      |       ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/SVDBase.h:274:22:   required from ‘class Eigen::SVDBase<Eigen::JacobiSVD<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 2> >’
  274 |   SingularValuesType m_singularValues;
      |                      ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:488:60:   required from ‘class Eigen::JacobiSVD<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 2>’
  488 | template<typename _MatrixType, int QRPreconditioner> class JacobiSVD
      |                                                            ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:44: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                                       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:208:88: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  208 |   typedef typename find_best_packet_helper<Size,typename packet_traits<T>::type>::type type;
      |                                                                                        ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 2, 1>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 2, 1>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 2, 1>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, 2, 1> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, 2, 1> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, 2, 1> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from ‘class Eigen::Matrix<double, 2, 1>’
  178 | class Matrix
      |       ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/SVDBase.h:274:22:   required from ‘class Eigen::SVDBase<Eigen::JacobiSVD<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 2> >’
  274 |   SingularValuesType m_singularValues;
      |                      ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:488:60:   required from ‘class Eigen::JacobiSVD<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 2>’
  488 | template<typename _MatrixType, int QRPreconditioner> class JacobiSVD
      |                                                            ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, 3, 2, 0, 3, 2> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, 3, 2, 0, 3, 2> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/QR/ColPivHouseholderQR.h:62:42:   required from ‘class Eigen::ColPivHouseholderQR<Eigen::Matrix<double, 3, 2, 0, 3, 2> >’
   62 |       MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
      |                                          ^~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:246:10:   required from ‘struct Eigen::internal::qr_preconditioner_impl<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 2, 0, true>’
  246 |   QRType m_qr;
      |          ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:609:110:   required from ‘class Eigen::JacobiSVD<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 2>’
  609 |     internal::qr_preconditioner_impl<MatrixType, QRPreconditioner, internal::PreconditionIfMoreColsThanRows> m_qr_precond_morecols;
      |                                                                                                              ^~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, 2>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, 2>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, 2>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, 1, 2> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, 1, 2> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/QR/ColPivHouseholderQR.h:440:19:   required from ‘class Eigen::ColPivHouseholderQR<Eigen::Matrix<double, 3, 2, 0, 3, 2> >’
  440 |     RowVectorType m_temp;
      |                   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:246:10:   required from ‘struct Eigen::internal::qr_preconditioner_impl<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 2, 0, true>’
  246 |   QRType m_qr;
      |          ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:609:110:   required from ‘class Eigen::JacobiSVD<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 2>’
  609 |     internal::qr_preconditioner_impl<MatrixType, QRPreconditioner, internal::PreconditionIfMoreColsThanRows> m_qr_precond_morecols;
      |                                                                                                              ^~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, 3>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, 3>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, 3>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, 1, 3> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, 1, 3> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, 1, 3> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from ‘class Eigen::Matrix<double, 1, 3>’
  178 | class Matrix
      |       ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:248:55:   required from ‘struct Eigen::internal::qr_preconditioner_impl<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 2, 0, true>’
  248 |   typename internal::plain_row_type<MatrixType>::type m_workspace;
      |                                                       ^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:609:110:   required from ‘class Eigen::JacobiSVD<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 2>’
  609 |     internal::qr_preconditioner_impl<MatrixType, QRPreconditioner, internal::PreconditionIfMoreColsThanRows> m_qr_precond_morecols;
      |                                                                                                              ^~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Matrix<double, 3, 3>, 3, 1, true>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Matrix<double, 3, 3>, 3, 1, true>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Matrix<double, 3, 3>, 3, 1, true> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Matrix<double, 3, 3>, 3, 1, true> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Matrix<double, 3, 3>, 3, 1, true>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Matrix<double, 3, 3>, 3, 1, true, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   required from ‘class Eigen::BlockImpl<const Eigen::Matrix<double, 3, 3>, 3, 1, true, Eigen::Dense>’
  154 | class BlockImpl<XprType, BlockRows, BlockCols, InnerPanel, Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:103:81:   required from ‘class Eigen::Block<const Eigen::Matrix<double, 3, 3>, 3, 1, true>’
  103 | template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel> class Block
      |                                                                                 ^~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:658:37:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  658 |     Vector3 axis = svd.matrixV().col(2);
      |                    ~~~~~~~~~~~~~~~~~^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 4, 1>, 3, 1, false>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 4, 1>, 3, 1, false>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 4, 1>, 3, 1, false>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Matrix<double, 4, 1>, 3, 1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Matrix<double, 4, 1>, 3, 1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Matrix<double, 4, 1>, 3, 1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   required from ‘class Eigen::BlockImpl<Eigen::Matrix<double, 4, 1>, 3, 1, false, Eigen::Dense>’
  154 | class BlockImpl<XprType, BlockRows, BlockCols, InnerPanel, Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:103:81:   required from ‘class Eigen::Block<Eigen::Matrix<double, 4, 1>, 3, 1, false>’
  103 | template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel> class Block
      |                                                                                 ^~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/VectorBlock.h:56:47:   required from ‘class Eigen::VectorBlock<Eigen::Matrix<double, 4, 1>, 3>’
   56 | template<typename VectorType, int Size> class VectorBlock
      |                                               ^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:662:14:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  662 |     this->vec() = axis * sqrt(Scalar(1) - w2);
      |     ~~~~~~~~~^~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:38:28:   required from ‘struct Eigen::internal::traits<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> > > >’
   38 |                    >::type Scalar;
      |                            ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> > >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:662:24:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  662 |     this->vec() = axis * sqrt(Scalar(1) - w2);
      |                   ~~~~~^~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> > >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> > > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> > > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> > >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:662:24:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  662 |     this->vec() = axis * sqrt(Scalar(1) - w2);
      |                   ~~~~~^~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Matrix<double, 4, 1> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Matrix<double, 4, 1> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Matrix<double, 4, 1> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseUnaryOp.h:94:7:   required from ‘class Eigen::CwiseUnaryOpImpl<Eigen::internal::scalar_abs2_op<double>, const Eigen::Matrix<double, 4, 1>, Eigen::Dense>’
   94 | class CwiseUnaryOpImpl
      |       ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseUnaryOp.h:55:7:   required from ‘class Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Matrix<double, 4, 1> >’
   55 | class CwiseUnaryOp : public CwiseUnaryOpImpl<UnaryOp, XprType, typename internal::traits<XprType>::StorageKind>, internal::no_assignment_operator
      |       ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Dot.h:98:40:   required from ‘typename Eigen::NumTraits<typename Eigen::internal::traits<T>::Scalar>::Real Eigen::MatrixBase<Derived>::squaredNorm() const [with Derived = Eigen::Matrix<double, 4, 1>; typename Eigen::NumTraits<typename Eigen::internal::traits<T>::Scalar>::Real = double; typename Eigen::internal::traits<T>::Scalar = double]’
   98 |   return numext::real((*this).cwiseAbs2().sum());
      |                       ~~~~~~~~~~~~~~~~~^~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Dot.h:110:23:   required from ‘typename Eigen::NumTraits<typename Eigen::internal::traits<T>::Scalar>::Real Eigen::MatrixBase<Derived>::norm() const [with Derived = Eigen::Matrix<double, 4, 1>; typename Eigen::NumTraits<typename Eigen::internal::traits<T>::Scalar>::Real = double; typename Eigen::internal::traits<T>::Scalar = double]’
  110 |   return numext::sqrt(squaredNorm());
      |                       ^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:125:70:   required from ‘Eigen::QuaternionBase<Derived>::Scalar Eigen::QuaternionBase<Derived>::norm() const [with Derived = Eigen::Quaternion<double>; Scalar = double]’
  125 |   EIGEN_DEVICE_FUNC inline Scalar norm() const { return coeffs().norm(); }
      |                                                         ~~~~~~~~~~~~~^~
imuf.cpp:69:42:   required from here
   69 |   const double gyrQuatNorm = gyrQuat.norm();
      |                              ~~~~~~~~~~~~^~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 4, 1> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 4, 1> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 4, 1> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 4, 1> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/SelfCwiseBinaryOp.h:41:67:   required from ‘Derived& Eigen::DenseBase<Derived>::operator/=(const Scalar&) [with Derived = Eigen::Matrix<double, 4, 1>; Scalar = double]’
   41 |   internal::call_assignment(this->derived(), PlainObject::Constant(rows(),cols(),other), internal::div_assign_op<Scalar,Scalar>());
      |                                              ~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Dot.h:150:15:   required from ‘void Eigen::MatrixBase<Derived>::normalize() [with Derived = Eigen::Matrix<double, 4, 1>]’
  150 |     derived() /= numext::sqrt(z);
      |     ~~~~~~~~~~^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:129:65:   required from ‘void Eigen::QuaternionBase<Derived>::normalize() [with Derived = Eigen::Quaternion<double>]’
  129 |   EIGEN_DEVICE_FUNC inline void normalize() { coeffs().normalize(); }
      |                                               ~~~~~~~~~~~~~~~~~~^~
imuf.cpp:77:16:   required from here
   77 |   qt1.normalize();
      |   ~~~~~~~~~~~~~^~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Matrix<double, 4, 1>, 3, 1, false>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Matrix<double, 4, 1>, 3, 1, false>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Matrix<double, 4, 1>, 3, 1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Matrix<double, 4, 1>, 3, 1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Matrix<double, 4, 1>, 3, 1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:103:81:   required from ‘class Eigen::Block<const Eigen::Matrix<double, 4, 1>, 3, 1, false>’
  103 | template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel> class Block
      |                                                                                 ^~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/VectorBlock.h:56:47:   required from ‘class Eigen::VectorBlock<const Eigen::Matrix<double, 4, 1>, 3>’
   56 | template<typename VectorType, int Size> class VectorBlock
      |                                               ^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:538:27:   required from ‘Eigen::QuaternionBase<Derived>::Vector3 Eigen::QuaternionBase<Derived>::_transformVector(const Vector3&) const [with Derived = Eigen::Quaternion<double>; Vector3 = Eigen::Matrix<double, 3, 1>]’
  538 |     Vector3 uv = this->vec().cross(v);
      |                  ~~~~~~~~~^~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/RotationBase.h:128:30:   required from ‘static Eigen::internal::rotation_base_generic_product_selector<RotationDerived, OtherVectorType, true>::ReturnType Eigen::internal::rotation_base_generic_product_selector<RotationDerived, OtherVectorType, true>::run(const RotationDerived&, const OtherVectorType&) [with RotationDerived = Eigen::Quaternion<double>; OtherVectorType = Eigen::Matrix<double, -1, 1>; ReturnType = Eigen::Matrix<double, 3, 1>]’
  128 |     return r._transformVector(v);
      |            ~~~~~~~~~~~~~~~~~~^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/RotationBase.h:72:89:   required from ‘typename Eigen::internal::rotation_base_generic_product_selector<Derived, OtherDerived, OtherDerived::IsVectorAtCompileTime>::ReturnType Eigen::RotationBase<Derived, _Dim>::operator*(const Eigen::EigenBase<OtherDerived>&) const [with OtherDerived = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>; int _Dim = 3; typename Eigen::internal::rotation_base_generic_product_selector<Derived, OtherDerived, OtherDerived::IsVectorAtCompileTime>::ReturnType = Eigen::Matrix<double, 3, 1>]’
   72 |     { return internal::rotation_base_generic_product_selector<Derived,OtherDerived>::run(derived(), e.derived()); }
      |              ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~
imuf.cpp:80:35:   required from here
   80 |   const VectorXd accWorld = qt1 * accVec;
      |                                   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >, const Eigen::Matrix<double, 3, 1> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >, const Eigen::Matrix<double, 3, 1> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >, const Eigen::Matrix<double, 3, 1> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >, const Eigen::Matrix<double, 3, 1>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >, const Eigen::Matrix<double, 3, 1> >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:540:26:   required from ‘Eigen::QuaternionBase<Derived>::Vector3 Eigen::QuaternionBase<Derived>::_transformVector(const Vector3&) const [with Derived = Eigen::Quaternion<double>; Vector3 = Eigen::Matrix<double, 3, 1>]’
  540 |     return v + this->w() * uv + this->vec().cross(uv);
      |                ~~~~~~~~~~^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/RotationBase.h:128:30:   required from ‘static Eigen::internal::rotation_base_generic_product_selector<RotationDerived, OtherVectorType, true>::ReturnType Eigen::internal::rotation_base_generic_product_selector<RotationDerived, OtherVectorType, true>::run(const RotationDerived&, const OtherVectorType&) [with RotationDerived = Eigen::Quaternion<double>; OtherVectorType = Eigen::Matrix<double, -1, 1>; ReturnType = Eigen::Matrix<double, 3, 1>]’
  128 |     return r._transformVector(v);
      |            ~~~~~~~~~~~~~~~~~~^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/RotationBase.h:72:89:   required from ‘typename Eigen::internal::rotation_base_generic_product_selector<Derived, OtherDerived, OtherDerived::IsVectorAtCompileTime>::ReturnType Eigen::RotationBase<Derived, _Dim>::operator*(const Eigen::EigenBase<OtherDerived>&) const [with OtherDerived = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>; int _Dim = 3; typename Eigen::internal::rotation_base_generic_product_selector<Derived, OtherDerived, OtherDerived::IsVectorAtCompileTime>::ReturnType = Eigen::Matrix<double, 3, 1>]’
   72 |     { return internal::rotation_base_generic_product_selector<Derived,OtherDerived>::run(derived(), e.derived()); }
      |              ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~
imuf.cpp:80:35:   required from here
   80 |   const VectorXd accWorld = qt1 * accVec;
      |                                   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >, const Eigen::Matrix<double, 3, 1> > >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >, const Eigen::Matrix<double, 3, 1> > > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >, const Eigen::Matrix<double, 3, 1> > > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_sum_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >, const Eigen::Matrix<double, 3, 1> >, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >, const Eigen::Matrix<double, 3, 1> > >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:540:14:   required from ‘Eigen::QuaternionBase<Derived>::Vector3 Eigen::QuaternionBase<Derived>::_transformVector(const Vector3&) const [with Derived = Eigen::Quaternion<double>; Vector3 = Eigen::Matrix<double, 3, 1>]’
  540 |     return v + this->w() * uv + this->vec().cross(uv);
      |            ~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/RotationBase.h:128:30:   required from ‘static Eigen::internal::rotation_base_generic_product_selector<RotationDerived, OtherVectorType, true>::ReturnType Eigen::internal::rotation_base_generic_product_selector<RotationDerived, OtherVectorType, true>::run(const RotationDerived&, const OtherVectorType&) [with RotationDerived = Eigen::Quaternion<double>; OtherVectorType = Eigen::Matrix<double, -1, 1>; ReturnType = Eigen::Matrix<double, 3, 1>]’
  128 |     return r._transformVector(v);
      |            ~~~~~~~~~~~~~~~~~~^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/RotationBase.h:72:89:   required from ‘typename Eigen::internal::rotation_base_generic_product_selector<Derived, OtherDerived, OtherDerived::IsVectorAtCompileTime>::ReturnType Eigen::RotationBase<Derived, _Dim>::operator*(const Eigen::EigenBase<OtherDerived>&) const [with OtherDerived = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>; int _Dim = 3; typename Eigen::internal::rotation_base_generic_product_selector<Derived, OtherDerived, OtherDerived::IsVectorAtCompileTime>::ReturnType = Eigen::Matrix<double, 3, 1>]’
   72 |     { return internal::rotation_base_generic_product_selector<Derived,OtherDerived>::run(derived(), e.derived()); }
      |              ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~
imuf.cpp:80:35:   required from here
   80 |   const VectorXd accWorld = qt1 * accVec;
      |                                   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, double>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >, const Eigen::Matrix<double, 3, 1> > >, const Eigen::Matrix<double, 3, 1> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, double>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >, const Eigen::Matrix<double, 3, 1> > >, const Eigen::Matrix<double, 3, 1> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, double>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >, const Eigen::Matrix<double, 3, 1> > >, const Eigen::Matrix<double, 3, 1> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_sum_op<double, double>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >, const Eigen::Matrix<double, 3, 1> > >, const Eigen::Matrix<double, 3, 1>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, double>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_sum_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >, const Eigen::Matrix<double, 3, 1> > >, const Eigen::Matrix<double, 3, 1> >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:540:31:   required from ‘Eigen::QuaternionBase<Derived>::Vector3 Eigen::QuaternionBase<Derived>::_transformVector(const Vector3&) const [with Derived = Eigen::Quaternion<double>; Vector3 = Eigen::Matrix<double, 3, 1>]’
  540 |     return v + this->w() * uv + this->vec().cross(uv);
      |            ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/RotationBase.h:128:30:   required from ‘static Eigen::internal::rotation_base_generic_product_selector<RotationDerived, OtherVectorType, true>::ReturnType Eigen::internal::rotation_base_generic_product_selector<RotationDerived, OtherVectorType, true>::run(const RotationDerived&, const OtherVectorType&) [with RotationDerived = Eigen::Quaternion<double>; OtherVectorType = Eigen::Matrix<double, -1, 1>; ReturnType = Eigen::Matrix<double, 3, 1>]’
  128 |     return r._transformVector(v);
      |            ~~~~~~~~~~~~~~~~~~^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/RotationBase.h:72:89:   required from ‘typename Eigen::internal::rotation_base_generic_product_selector<Derived, OtherDerived, OtherDerived::IsVectorAtCompileTime>::ReturnType Eigen::RotationBase<Derived, _Dim>::operator*(const Eigen::EigenBase<OtherDerived>&) const [with OtherDerived = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>; int _Dim = 3; typename Eigen::internal::rotation_base_generic_product_selector<Derived, OtherDerived, OtherDerived::IsVectorAtCompileTime>::ReturnType = Eigen::Matrix<double, 3, 1>]’
   72 |     { return internal::rotation_base_generic_product_selector<Derived,OtherDerived>::run(derived(), e.derived()); }
      |              ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~
imuf.cpp:80:35:   required from here
   80 |   const VectorXd accWorld = qt1 * accVec;
      |                                   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:38:28:   required from ‘struct Eigen::internal::traits<Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Matrix<double, -1, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1> > > >’
   38 |                    >::type Scalar;
      |                            ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Matrix<double, -1, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1> >, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Matrix<double, -1, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1> > >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Dot.h:131:14:   required from ‘const Eigen::MatrixBase<Derived>::PlainObject Eigen::MatrixBase<Derived>::normalized() const [with Derived = Eigen::Matrix<double, -1, 1>; PlainObject = Eigen::Matrix<double, -1, 1>]’
  131 |     return n / numext::sqrt(z);
      |            ~~^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:641:28:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  641 |   Vector3 v0 = a.normalized();
      |                ~~~~~~~~~~~~^~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Matrix<double, -1, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1> > >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Matrix<double, -1, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1> > > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Matrix<double, -1, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1> > > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Matrix<double, -1, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1> >, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Matrix<double, -1, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1> > >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Dot.h:131:14:   required from ‘const Eigen::MatrixBase<Derived>::PlainObject Eigen::MatrixBase<Derived>::normalized() const [with Derived = Eigen::Matrix<double, -1, 1>; PlainObject = Eigen::Matrix<double, -1, 1>]’
  131 |     return n / numext::sqrt(z);
      |            ~~^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:641:28:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  641 |   Vector3 v0 = a.normalized();
      |                ~~~~~~~~~~~~^~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 1, 3, false>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 1, 3, false>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 1, 3, false>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 1, 3, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 1, 3, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 1, 3, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   required from ‘class Eigen::BlockImpl<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 1, 3, false, Eigen::Dense>’
  154 | class BlockImpl<XprType, BlockRows, BlockCols, InnerPanel, Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:103:81:   required from ‘class Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 1, 3, false>’
  103 | template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel> class Block
      |                                                                                 ^~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CommaInitializer.h:99:21:   required from ‘Eigen::CommaInitializer<MatrixType>& Eigen::CommaInitializer<MatrixType>::operator,(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Transpose<Eigen::Matrix<double, 3, 1> >; XprType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
   98 |     m_xpr.template block<OtherDerived::RowsAtCompileTime, OtherDerived::ColsAtCompileTime>
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   99 |                     (m_row, m_col, other.rows(), other.cols()) = other;
      |                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:656:46:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  656 |     Matrix<Scalar,2,3> m; m << v0.transpose(), v1.transpose();
      |                           ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
In file included from /usr/local/lib/R/library/RcppEigen/include/Eigen/Core:277:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Matrix<double, 4, 1>, 3, 1, false> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:372:102:   required from ‘struct Eigen::internal::plain_object_eval<Eigen::Block<const Eigen::Matrix<double, 4, 1>, 3, 1, false>, Eigen::Dense>’
  372 |   typedef typename plain_matrix_type_dense<T,typename traits<T>::XprKind, evaluator<T>::Flags>::type type;
      |                                                                                                      ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/OrthoMethods.h:42:51:   required from ‘typename Eigen::MatrixBase<Derived>::cross_product_return_type<OtherDerived>::type Eigen::MatrixBase<Derived>::cross(const Eigen::MatrixBase<OtherDerived>&) const [with OtherDerived = Eigen::Matrix<double, 3, 1>; Derived = Eigen::Block<const Eigen::Matrix<double, 4, 1>, 3, 1, false>; typename cross_product_return_type<OtherDerived>::type = Eigen::Matrix<double, 3, 1>]’
   42 |   typename internal::nested_eval<Derived,2>::type lhs(derived());
      |                                                   ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:538:35:   required from ‘Eigen::QuaternionBase<Derived>::Vector3 Eigen::QuaternionBase<Derived>::_transformVector(const Vector3&) const [with Derived = Eigen::Quaternion<double>; Vector3 = Eigen::Matrix<double, 3, 1>]’
  538 |     Vector3 uv = this->vec().cross(v);
      |                  ~~~~~~~~~~~~~~~~~^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/RotationBase.h:128:30:   required from ‘static Eigen::internal::rotation_base_generic_product_selector<RotationDerived, OtherVectorType, true>::ReturnType Eigen::internal::rotation_base_generic_product_selector<RotationDerived, OtherVectorType, true>::run(const RotationDerived&, const OtherVectorType&) [with RotationDerived = Eigen::Quaternion<double>; OtherVectorType = Eigen::Matrix<double, -1, 1>; ReturnType = Eigen::Matrix<double, 3, 1>]’
  128 |     return r._transformVector(v);
      |            ~~~~~~~~~~~~~~~~~~^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/RotationBase.h:72:89:   required from ‘typename Eigen::internal::rotation_base_generic_product_selector<Derived, OtherDerived, OtherDerived::IsVectorAtCompileTime>::ReturnType Eigen::RotationBase<Derived, _Dim>::operator*(const Eigen::EigenBase<OtherDerived>&) const [with OtherDerived = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>; int _Dim = 3; typename Eigen::internal::rotation_base_generic_product_selector<Derived, OtherDerived, OtherDerived::IsVectorAtCompileTime>::ReturnType = Eigen::Matrix<double, 3, 1>]’
   72 |     { return internal::rotation_base_generic_product_selector<Derived,OtherDerived>::run(derived(), e.derived()); }
      |              ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~
imuf.cpp:80:35:   required from here
   80 |   const VectorXd accWorld = qt1 * accVec;
      |                                   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Matrix<double, -1, 1> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Matrix<double, -1, 1> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Matrix<double, -1, 1> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseUnaryOp.h:94:7:   required from ‘class Eigen::CwiseUnaryOpImpl<Eigen::internal::scalar_abs2_op<double>, const Eigen::Matrix<double, -1, 1>, Eigen::Dense>’
   94 | class CwiseUnaryOpImpl
      |       ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseUnaryOp.h:55:7:   required from ‘class Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Matrix<double, -1, 1> >’
   55 | class CwiseUnaryOp : public CwiseUnaryOpImpl<UnaryOp, XprType, typename internal::traits<XprType>::StorageKind>, internal::no_assignment_operator
      |       ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Dot.h:98:40:   required from ‘typename Eigen::NumTraits<typename Eigen::internal::traits<T>::Scalar>::Real Eigen::MatrixBase<Derived>::squaredNorm() const [with Derived = Eigen::Matrix<double, -1, 1>; typename Eigen::NumTraits<typename Eigen::internal::traits<T>::Scalar>::Real = double; typename Eigen::internal::traits<T>::Scalar = double]’
   98 |   return numext::real((*this).cwiseAbs2().sum());
      |                       ~~~~~~~~~~~~~~~~~^~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Dot.h:128:31:   required from ‘const Eigen::MatrixBase<Derived>::PlainObject Eigen::MatrixBase<Derived>::normalized() const [with Derived = Eigen::Matrix<double, -1, 1>; PlainObject = Eigen::Matrix<double, -1, 1>]’
  128 |   RealScalar z = n.squaredNorm();
      |                  ~~~~~~~~~~~~~^~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:641:28:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  641 |   Vector3 v0 = a.normalized();
      |                ~~~~~~~~~~~~^~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::Matrix<double, 3, 1> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::Matrix<double, 3, 1> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::Matrix<double, 3, 1> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::Matrix<double, 3, 1>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::Matrix<double, 3, 1> >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Dot.h:37:44:   required from ‘static Eigen::internal::dot_nocheck<T, U, NeedToTranspose>::ResScalar Eigen::internal::dot_nocheck<T, U, NeedToTranspose>::run(const Eigen::MatrixBase<Derived>&, const Eigen::MatrixBase<U>&) [with T = Eigen::Matrix<double, 3, 1>; U = Eigen::Matrix<double, 3, 1>; bool NeedToTranspose = false; ResScalar = double]’
   37 |     return a.template binaryExpr<conj_prod>(b).sum();
      |            ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Dot.h:84:58:   required from ‘typename Eigen::ScalarBinaryOpTraits<typename Eigen::internal::traits<T>::Scalar, typename Eigen::internal::traits<OtherDerived>::Scalar>::ReturnType Eigen::MatrixBase<Derived>::dot(const Eigen::MatrixBase<OtherDerived>&) const [with OtherDerived = Eigen::Matrix<double, 3, 1>; Derived = Eigen::Matrix<double, 3, 1>; typename Eigen::ScalarBinaryOpTraits<typename Eigen::internal::traits<T>::Scalar, typename Eigen::internal::traits<OtherDerived>::Scalar>::ReturnType = double; typename Eigen::internal::traits<T>::Scalar = double; typename Eigen::internal::traits<OtherDerived>::Scalar = double]’
   84 |   return internal::dot_nocheck<Derived,OtherDerived>::run(*this, other);
      |          ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:643:20:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  643 |   Scalar c = v1.dot(v0);
      |              ~~~~~~^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:103:81:   required from ‘class Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>’
  103 | template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel> class Block
      |                                                                                 ^~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CommaInitializer.h:48:16:   required from ‘Eigen::CommaInitializer<MatrixType>::CommaInitializer(XprType&, const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Transpose<Eigen::Matrix<double, 3, 1> >; XprType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
   48 |     m_xpr.block(0, 0, other.rows(), other.cols()) = other;
      |     ~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CommaInitializer.h:159:10:   required from ‘Eigen::CommaInitializer<Derived> Eigen::DenseBase<Derived>::operator<<(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Transpose<Eigen::Matrix<double, 3, 1> >; Derived = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  159 |   return CommaInitializer<Derived>(*static_cast<Derived *>(this), other);
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:656:29:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  656 |     Matrix<Scalar,2,3> m; m << v0.transpose(), v1.transpose();
      |                           ~~^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs_op<double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs_op<double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs_op<double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseUnaryOp.h:94:7:   required from ‘class Eigen::CwiseUnaryOpImpl<Eigen::internal::scalar_abs_op<double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3>, Eigen::Dense>’
   94 | class CwiseUnaryOpImpl
      |       ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseUnaryOp.h:55:7:   required from ‘class Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs_op<double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3> >’
   55 | class CwiseUnaryOp : public CwiseUnaryOpImpl<UnaryOp, XprType, typename internal::traits<XprType>::StorageKind>, internal::no_assignment_operator
      |       ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:679:37:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  679 |   RealScalar scale = matrix.cwiseAbs().template maxCoeff<PropagateNaN>();
      |                      ~~~~~~~~~~~~~~~^~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:38:28:   required from ‘struct Eigen::internal::traits<Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3> > > >’
   38 |                    >::type Scalar;
      |                            ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3> >, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3> > >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:691:29:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  691 |     m_scaledMatrix = matrix / scale;
      |                      ~~~~~~~^~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3> > >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3> > > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3> > > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3> >, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 2, 3, 0, 2, 3> > >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:691:29:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  691 |     m_scaledMatrix = matrix / scale;
      |                      ~~~~~~~^~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:103:81:   required from ‘class Eigen::Block<const Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>’
  103 | template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel> class Block
      |                                                                                 ^~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:697:32:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  697 |     m_workMatrix = matrix.block(0,0,m_diagSize,m_diagSize) / scale;
      |                    ~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:38:28:   required from ‘struct Eigen::internal::traits<Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> > > >’
   38 |                    >::type Scalar;
      |                            ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> > >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:697:60:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  697 |     m_workMatrix = matrix.block(0,0,m_diagSize,m_diagSize) / scale;
      |                    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> > >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> > > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> > > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> > >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:697:60:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  697 |     m_workMatrix = matrix.block(0,0,m_diagSize,m_diagSize) / scale;
      |                    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs_op<double>, const Eigen::Matrix<double, 2, 2> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs_op<double>, const Eigen::Matrix<double, 2, 2> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs_op<double>, const Eigen::Matrix<double, 2, 2> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseUnaryOp.h:94:7:   required from ‘class Eigen::CwiseUnaryOpImpl<Eigen::internal::scalar_abs_op<double>, const Eigen::Matrix<double, 2, 2>, Eigen::Dense>’
   94 | class CwiseUnaryOpImpl
      |       ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseUnaryOp.h:55:7:   required from ‘class Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs_op<double>, const Eigen::Matrix<double, 2, 2> >’
   55 | class CwiseUnaryOp : public CwiseUnaryOpImpl<UnaryOp, XprType, typename internal::traits<XprType>::StorageKind>, internal::no_assignment_operator
      |       ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:705:50:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  705 |   RealScalar maxDiagEntry = m_workMatrix.cwiseAbs().diagonal().maxCoeff();
      |                             ~~~~~~~~~~~~~~~~~~~~~^~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Diagonal<const Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs_op<double>, const Eigen::Matrix<double, 2, 2> >, 0>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Diagonal<const Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs_op<double>, const Eigen::Matrix<double, 2, 2> >, 0> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Diagonal<const Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs_op<double>, const Eigen::Matrix<double, 2, 2> >, 0> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Diagonal.h:63:53:   required from ‘class Eigen::Diagonal<const Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs_op<double>, const Eigen::Matrix<double, 2, 2> >, 0>’
   63 | template<typename MatrixType, int _DiagIndex> class Diagonal
      |                                                     ^~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:705:61:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  705 |   RealScalar maxDiagEntry = m_workMatrix.cwiseAbs().diagonal().maxCoeff();
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 2, 2>, 2, 1, true>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 2, 2>, 2, 1, true>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 2, 2>, 2, 1, true>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Matrix<double, 2, 2>, 2, 1, true> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Matrix<double, 2, 2>, 2, 1, true> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Matrix<double, 2, 2>, 2, 1, true>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:103:81:   required from ‘class Eigen::Block<Eigen::Matrix<double, 2, 2>, 2, 1, true>’
  103 | template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel> class Block
      |                                                                                 ^~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:758:35:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  758 |       if(computeU()) m_matrixU.col(i) *= m_workMatrix.coeff(i,i)/a;
      |                      ~~~~~~~~~~~~~^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_opposite_op<double>, const Eigen::Block<Eigen::Matrix<double, 2, 2>, 2, 1, true> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_opposite_op<double>, const Eigen::Block<Eigen::Matrix<double, 2, 2>, 2, 1, true> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_opposite_op<double>, const Eigen::Block<Eigen::Matrix<double, 2, 2>, 2, 1, true> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseUnaryOp.h:94:7:   required from ‘class Eigen::CwiseUnaryOpImpl<Eigen::internal::scalar_opposite_op<double>, const Eigen::Block<Eigen::Matrix<double, 2, 2>, 2, 1, true>, Eigen::Dense>’
   94 | class CwiseUnaryOpImpl
      |       ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseUnaryOp.h:55:7:   required from ‘class Eigen::CwiseUnaryOp<Eigen::internal::scalar_opposite_op<double>, const Eigen::Block<Eigen::Matrix<double, 2, 2>, 2, 1, true> >’
   55 | class CwiseUnaryOp : public CwiseUnaryOpImpl<UnaryOp, XprType, typename internal::traits<XprType>::StorageKind>, internal::no_assignment_operator
      |       ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:765:62:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  765 |       if(computeU() && (a<RealScalar(0))) m_matrixU.col(i) = -m_matrixU.col(i);
      |                                                              ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, 1, false>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, 1, false>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, 1, false>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, 1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, 1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, 1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 4 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/VectorBlock.h:56:47:   required from ‘class Eigen::VectorBlock<Eigen::Matrix<double, 2, 1>, -1>’
   56 | template<typename VectorType, int Size> class VectorBlock
      |                                               ^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:777:65:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  777 |     RealScalar maxRemainingSingularValue = m_singularValues.tail(m_diagSize-i).maxCoeff(&pos);
      |                                            ~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:103:81:   required from ‘class Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true>’
  103 | template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel> class Block
      |                                                                                 ^~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:788:35:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  788 |       if(computeV()) m_matrixV.col(pos).swap(m_matrixV.col(i));
      |                      ~~~~~~~~~~~~~^~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 4, 1>, const Eigen::Matrix<double, 4, 1> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 4, 1>, const Eigen::Matrix<double, 4, 1> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 4, 1>, const Eigen::Matrix<double, 4, 1> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 4, 1>, const Eigen::Matrix<double, 4, 1>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_conj_product_op<double, double>, const Eigen::Matrix<double, 4, 1>, const Eigen::Matrix<double, 4, 1> >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Dot.h:37:44:   required from ‘static Eigen::internal::dot_nocheck<T, U, NeedToTranspose>::ResScalar Eigen::internal::dot_nocheck<T, U, NeedToTranspose>::run(const Eigen::MatrixBase<Derived>&, const Eigen::MatrixBase<U>&) [with T = Eigen::Matrix<double, 4, 1>; U = Eigen::Matrix<double, 4, 1>; bool NeedToTranspose = false; ResScalar = double]’
   37 |     return a.template binaryExpr<conj_prod>(b).sum();
      |            ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Dot.h:84:58:   required from ‘typename Eigen::ScalarBinaryOpTraits<typename Eigen::internal::traits<T>::Scalar, typename Eigen::internal::traits<OtherDerived>::Scalar>::ReturnType Eigen::MatrixBase<Derived>::dot(const Eigen::MatrixBase<OtherDerived>&) const [with OtherDerived = Eigen::Matrix<double, 4, 1>; Derived = Eigen::Matrix<double, 4, 1>; typename Eigen::ScalarBinaryOpTraits<typename Eigen::internal::traits<T>::Scalar, typename Eigen::internal::traits<OtherDerived>::Scalar>::ReturnType = double; typename Eigen::internal::traits<T>::Scalar = double; typename Eigen::internal::traits<OtherDerived>::Scalar = double]’
   84 |   return internal::dot_nocheck<Derived,OtherDerived>::run(*this, other);
      |          ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:139:138:   required from ‘Eigen::QuaternionBase<Derived>::Scalar Eigen::QuaternionBase<Derived>::dot(const Eigen::QuaternionBase<OtherDerived>&) const [with OtherDerived = Eigen::Quaternion<double>; Derived = Eigen::Quaternion<double>; Scalar = double]’
  139 |   template<class OtherDerived> EIGEN_DEVICE_FUNC inline Scalar dot(const QuaternionBase<OtherDerived>& other) const { return coeffs().dot(other.coeffs()); }
      |                                                                                                                              ~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:787:23:   required from ‘Eigen::Quaternion<typename Eigen::internal::traits<T>::Scalar> Eigen::QuaternionBase<Derived>::slerp(const Scalar&, const Eigen::QuaternionBase<OtherDerived>&) const [with OtherDerived = Eigen::Quaternion<double>; Derived = Eigen::Quaternion<double>; typename Eigen::internal::traits<T>::Scalar = double; Scalar = double]’
  787 |   Scalar d = this->dot(other);
      |              ~~~~~~~~~^~~~~~~
imuf.cpp:87:38:   required from here
   87 |   Quaternion<double> qout = qt1.slerp(gain, qAdj * qt1);
      |                             ~~~~~~~~~^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Matrix<double, 2, 3, 0, 2, 3> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Matrix<double, 2, 3, 0, 2, 3> >, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Transpose<const Eigen::Matrix<double, 2, 3, 0, 2, 3> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Transpose<const Eigen::Matrix<double, 2, 3, 0, 2, 3> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Transpose.h:118:37:   required from ‘class Eigen::TransposeImpl<const Eigen::Matrix<double, 2, 3, 0, 2, 3>, Eigen::Dense>’
  118 | template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
      |                                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Transpose.h:52:37:   required from ‘class Eigen::Transpose<const Eigen::Matrix<double, 2, 3, 0, 2, 3> >’
   52 | template<typename MatrixType> class Transpose
      |                                     ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:228:33:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  228 |       m_adjoint = matrix.adjoint();
      |                   ~~~~~~~~~~~~~~^~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:231:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  231 |       svd.m_workMatrix = m_qr.matrixQR().block(0,0,matrix.rows(),matrix.rows()).template triangularView<Upper>().adjoint();
      |                          ~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Transpose.h:118:37:   required from ‘class Eigen::TransposeImpl<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, Eigen::Dense>’
  118 | template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
      |                                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Transpose.h:52:37:   required from ‘class Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >’
   52 | template<typename MatrixType> class Transpose
      |                                     ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/TriangularMatrix.h:175:44:   [ skipping 5 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:231:121:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  231 |       svd.m_workMatrix = m_qr.matrixQR().block(0,0,matrix.rows(),matrix.rows()).template triangularView<Upper>().adjoint();
      |                          ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 2, 2>, 1, 2, false>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 2, 2>, 1, 2, false>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 2, 2>, 1, 2, false>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Matrix<double, 2, 2>, 1, 2, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Matrix<double, 2, 2>, 1, 2, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Matrix<double, 2, 2>, 1, 2, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 4 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Jacobi/Jacobi.h:297:10:   required from ‘void Eigen::MatrixBase<Derived>::applyOnTheLeft(Eigen::Index, Eigen::Index, const Eigen::JacobiRotation<OtherScalar>&) [with OtherScalar = double; Derived = Eigen::Matrix<double, 2, 2>; Eigen::Index = long int]’
  297 |   RowXpr x(this->row(p));
      |          ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:733:40:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  733 |             m_workMatrix.applyOnTheLeft(p,q,j_left);
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 2, 1> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 2, 1> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 2, 1> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 2, 1> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/SelfCwiseBinaryOp.h:20:67:   required from ‘Derived& Eigen::DenseBase<Derived>::operator*=(const Scalar&) [with Derived = Eigen::Block<Eigen::Matrix<double, 2, 2>, 2, 1, true>; Scalar = double]’
   20 |   internal::call_assignment(this->derived(), PlainObject::Constant(rows(),cols(),other), internal::mul_assign_op<Scalar,Scalar>());
      |                                              ~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:758:39:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  758 |       if(computeU()) m_matrixU.col(i) *= m_workMatrix.coeff(i,i)/a;
      |                      ~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Diagonal<Eigen::Matrix<double, 3, 3>, 0>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Diagonal<Eigen::Matrix<double, 3, 3>, 0>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Diagonal<Eigen::Matrix<double, 3, 3>, 0>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Diagonal<Eigen::Matrix<double, 3, 3>, 0> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Diagonal<Eigen::Matrix<double, 3, 3>, 0> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Diagonal.h:63:53:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 5 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true>, -1, 1, false>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true>, -1, 1, false>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true>, -1, 1, false>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true>, -1, 1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true>, -1, 1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true>, -1, 1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 5 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Matrix<double, 2, 1>, -1, 1, false>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Matrix<double, 2, 1>, -1, 1, false>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Matrix<double, 2, 1>, -1, 1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Matrix<double, 2, 1>, -1, 1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Matrix<double, 2, 1>, -1, 1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Matrix<double, 2, 1>, -1, 1, false, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 4 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, 2, 2>, 1, 2, false> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Jacobi/Jacobi.h:475:5:   required from ‘void Eigen::internal::apply_rotation_in_the_plane(Eigen::DenseBase<Derived>&, Eigen::DenseBase<Derived>&, const Eigen::JacobiRotation<OtherScalar>&) [with VectorX = Eigen::Block<Eigen::Matrix<double, 2, 2>, 1, 2, false>; VectorY = Eigen::Block<Eigen::Matrix<double, 2, 2>, 1, 2, false>; OtherScalar = double]’
  475 |     EIGEN_PLAIN_ENUM_MIN(evaluator<VectorX>::Alignment, evaluator<VectorY>::Alignment),
      |                                              ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Jacobi/Jacobi.h:299:40:   required from ‘void Eigen::MatrixBase<Derived>::applyOnTheLeft(Eigen::Index, Eigen::Index, const Eigen::JacobiRotation<OtherScalar>&) [with OtherScalar = double; Derived = Eigen::Matrix<double, 2, 2>; Eigen::Index = long int]’
  299 |   internal::apply_rotation_in_the_plane(x, y, j);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:733:40:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  733 |             m_workMatrix.applyOnTheLeft(p,q,j_left);
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, 2, 2>, 2, 1, true> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Jacobi/Jacobi.h:475:5:   required from ‘void Eigen::internal::apply_rotation_in_the_plane(Eigen::DenseBase<Derived>&, Eigen::DenseBase<Derived>&, const Eigen::JacobiRotation<OtherScalar>&) [with VectorX = Eigen::Block<Eigen::Matrix<double, 2, 2>, 2, 1, true>; VectorY = Eigen::Block<Eigen::Matrix<double, 2, 2>, 2, 1, true>; OtherScalar = double]’
  475 |     EIGEN_PLAIN_ENUM_MIN(evaluator<VectorX>::Alignment, evaluator<VectorY>::Alignment),
      |                                              ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Jacobi/Jacobi.h:315:40:   required from ‘void Eigen::MatrixBase<Derived>::applyOnTheRight(Eigen::Index, Eigen::Index, const Eigen::JacobiRotation<OtherScalar>&) [with OtherScalar = double; Derived = Eigen::Matrix<double, 2, 2>; Eigen::Index = long int]’
  315 |   internal::apply_rotation_in_the_plane(x, y, j.transpose());
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:734:53:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  734 |             if(computeU()) m_matrixU.applyOnTheRight(p,q,j_left.transpose());
      |                            ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Jacobi/Jacobi.h:475:5:   required from ‘void Eigen::internal::apply_rotation_in_the_plane(Eigen::DenseBase<Derived>&, Eigen::DenseBase<Derived>&, const Eigen::JacobiRotation<OtherScalar>&) [with VectorX = Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true>; VectorY = Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true>; OtherScalar = double]’
  475 |     EIGEN_PLAIN_ENUM_MIN(evaluator<VectorX>::Alignment, evaluator<VectorY>::Alignment),
      |                                              ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Jacobi/Jacobi.h:315:40:   required from ‘void Eigen::MatrixBase<Derived>::applyOnTheRight(Eigen::Index, Eigen::Index, const Eigen::JacobiRotation<OtherScalar>&) [with OtherScalar = double; Derived = Eigen::Matrix<double, 3, 3>; Eigen::Index = long int]’
  315 |   internal::apply_rotation_in_the_plane(x, y, j.transpose());
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:737:53:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  737 |             if(computeV()) m_matrixV.applyOnTheRight(p,q,j_right);
      |                            ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 1, 2>, 1, -1, false>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 1, 2>, 1, -1, false>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, 1, 2>, 1, -1, false>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Matrix<double, 1, 2>, 1, -1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Matrix<double, 1, 2>, 1, -1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Matrix<double, 1, 2>, 1, -1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 0, 3, 3>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 0, 3, 3>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 0, 3, 3>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, -1, -1, 0, 3, 3> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, -1, -1, 0, 3, 3> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 0, 3, 3> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, -1, 1, 0, 3, 1> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, -1, 1, 0, 3, 1> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, -1, 1, 0, 3, 1> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> >, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> >, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> >, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 4 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Product<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 0>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Product<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 0> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Product<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 0> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:120:7:   required from ‘class Eigen::internal::dense_product_base<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 0, 3>’
  120 | class dense_product_base
      |       ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:152:7:   required from ‘class Eigen::ProductImpl<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 0, Eigen::Dense>’
  152 | class ProductImpl<Lhs,Rhs,Option,Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:71:7:   required from ‘class Eigen::Product<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 0>’
   71 | class Product : public ProductImpl<_Lhs,_Rhs,Option,
      |       ^~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Householder/Householder.h:167:27:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, 1, true>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, 1, true>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, 1, true>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, 1, true> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, 1, true> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, 1, true>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:38:28:   required from ‘struct Eigen::internal::traits<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> > > >’
   38 |                    >::type Scalar;
      |                            ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> >, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> > >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> > > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> > > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> >, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> > >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Householder/Householder.h:169:25:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Transpose.h:118:37:   required from ‘class Eigen::TransposeImpl<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, Eigen::Dense>’
  118 | template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
      |                                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Transpose.h:52:37:   required from ‘class Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >’
   52 | template<typename MatrixType> class Transpose
      |                                     ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Householder/Householder.h:170:53:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> > >, Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 0>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> > >, Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 0> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> > >, Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 0> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:120:7:   required from ‘class Eigen::internal::dense_product_base<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> > >, Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 0, 4>’
  120 | class dense_product_base
      |       ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:152:7:   required from ‘class Eigen::ProductImpl<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> > >, Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 0, Eigen::Dense>’
  152 | class ProductImpl<Lhs,Rhs,Option,Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:71:7:   required from ‘class Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> > >, Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 0>’
   71 | class Product : public ProductImpl<_Lhs,_Rhs,Option,
      |       ^~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Householder/Householder.h:170:34:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, 1, -1, 1, 1, 3> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, 1, -1, 1, 1, 3> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, 1, -1, 1, 1, 3> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 4 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Product<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 0>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Product<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 0> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Product<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 0> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:120:7:   required from ‘class Eigen::internal::dense_product_base<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 0, 3>’
  120 | class dense_product_base
      |       ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:152:7:   required from ‘class Eigen::ProductImpl<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 0, Eigen::Dense>’
  152 | class ProductImpl<Lhs,Rhs,Option,Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:71:7:   required from ‘class Eigen::Product<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 0>’
   71 | class Product : public ProductImpl<_Lhs,_Rhs,Option,
      |       ^~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Householder/Householder.h:129:41:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 1, -1, false>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 1, -1, false>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 1, -1, false>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 1, -1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 1, -1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 1, -1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:38:28:   required from ‘struct Eigen::internal::traits<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> > > >’
   38 |                    >::type Scalar;
      |                            ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> > >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> > > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> > > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> > >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Householder/Householder.h:131:25:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Householder/Householder.h:132:29:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 0>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 0> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 0> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:120:7:   required from ‘class Eigen::internal::dense_product_base<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 0, 4>’
  120 | class dense_product_base
      |       ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:152:7:   required from ‘class Eigen::ProductImpl<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 0, Eigen::Dense>’
  152 | class ProductImpl<Lhs,Rhs,Option,Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:71:7:   required from ‘class Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 0>’
   71 | class Product : public ProductImpl<_Lhs,_Rhs,Option,
      |       ^~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Householder/Householder.h:132:41:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, -1, -1, 1, -1, -1> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, -1, -1, 1, -1, -1> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 1, -1, -1> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 0, 2, 3>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 0, 2, 3>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 0, 2, 3>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, -1, -1, 0, 2, 3> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, -1, -1, 0, 2, 3> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 0, 2, 3> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Transpose.h:118:37:   required from ‘class Eigen::TransposeImpl<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, Eigen::Dense>’
  118 | template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
      |                                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Transpose.h:52:37:   required from ‘class Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >’
   52 | template<typename MatrixType> class Transpose
      |                                     ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/TriangularMatrix.h:175:44:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Product<Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 6>, Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 0>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Product<Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 6>, Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 0> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Product<Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 6>, Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 0> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:120:7:   required from ‘class Eigen::internal::dense_product_base<Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 6>, Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 0, 3>’
  120 | class dense_product_base
      |       ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:152:7:   required from ‘class Eigen::ProductImpl<Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 6>, Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 0, Eigen::Dense>’
  152 | class ProductImpl<Lhs,Rhs,Option,Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:71:7:   required from ‘class Eigen::Product<Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 6>, Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 0>’
   71 | class Product : public ProductImpl<_Lhs,_Rhs,Option,
      |       ^~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Householder/BlockHouseholder.h:99:96:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Product<Eigen::TriangularView<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 2>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, 0>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Product<Eigen::TriangularView<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 2>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, 0> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Product<Eigen::TriangularView<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 2>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, 0> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:120:7:   required from ‘class Eigen::internal::dense_product_base<Eigen::TriangularView<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 2>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, 0, 3>’
  120 | class dense_product_base
      |       ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:152:7:   required from ‘class Eigen::ProductImpl<Eigen::TriangularView<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 2>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, 0, Eigen::Dense>’
  152 | class ProductImpl<Lhs,Rhs,Option,Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:71:7:   required from ‘class Eigen::Product<Eigen::TriangularView<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 2>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, 0>’
   71 | class Product : public ProductImpl<_Lhs,_Rhs,Option,
      |       ^~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Householder/BlockHouseholder.h:101:66:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Transpose.h:118:37:   required from ‘class Eigen::TransposeImpl<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, Eigen::Dense>’
  118 | template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
      |                                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Transpose.h:52:37:   required from ‘class Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >’
   52 | template<typename MatrixType> class Transpose
      |                                     ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/TriangularMatrix.h:175:44:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Product<Eigen::TriangularView<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, 1>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, 0>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Product<Eigen::TriangularView<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, 1>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, 0> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Product<Eigen::TriangularView<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, 1>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, 0> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:120:7:   required from ‘class Eigen::internal::dense_product_base<Eigen::TriangularView<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, 1>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, 0, 3>’
  120 | class dense_product_base
      |       ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:152:7:   required from ‘class Eigen::ProductImpl<Eigen::TriangularView<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, 1>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, 0, Eigen::Dense>’
  152 | class ProductImpl<Lhs,Rhs,Option,Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:71:7:   required from ‘class Eigen::Product<Eigen::TriangularView<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, 1>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, 0>’
   71 | class Product : public ProductImpl<_Lhs,_Rhs,Option,
      |       ^~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Householder/BlockHouseholder.h:102:66:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Product<Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, 0>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Product<Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, 0> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Product<Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, 0> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:120:7:   required from ‘class Eigen::internal::dense_product_base<Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, 0, 3>’
  120 | class dense_product_base
      |       ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:152:7:   required from ‘class Eigen::ProductImpl<Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, 0, Eigen::Dense>’
  152 | class ProductImpl<Lhs,Rhs,Option,Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:71:7:   required from ‘class Eigen::Product<Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, 0>’
   71 | class Product : public ProductImpl<_Lhs,_Rhs,Option,
      |       ^~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Householder/BlockHouseholder.h:103:22:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<double>, Eigen::Matrix<double, 2, 2> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<double>, Eigen::Matrix<double, 2, 2> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<double>, Eigen::Matrix<double, 2, 2> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<double>, Eigen::Matrix<double, 2, 2> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:846:33:   required from ‘static Derived& Eigen::internal::setIdentity_impl<Derived, Big>::run(Derived&) [with Derived = Eigen::Matrix<double, 2, 2>; bool Big = false]’
  846 |     return m = Derived::Identity(m.rows(), m.cols());
      |                ~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:875:50:   required from ‘Derived& Eigen::MatrixBase<Derived>::setIdentity() [with Derived = Eigen::Matrix<double, 2, 2>]’
  875 |   return internal::setIdentity_impl<Derived>::run(derived());
      |          ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:892:21:   required from ‘Derived& Eigen::MatrixBase<Derived>::setIdentity(Eigen::Index, Eigen::Index) [with Derived = Eigen::Matrix<double, 2, 2>; Eigen::Index = long int]’
  892 |   return setIdentity();
      |          ~~~~~~~~~~~^~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:698:45:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  698 |     if(m_computeFullU) m_matrixU.setIdentity(m_rows,m_rows);
      |                        ~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<double>, Eigen::Matrix<double, 3, 3> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<double>, Eigen::Matrix<double, 3, 3> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<double>, Eigen::Matrix<double, 3, 3> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_identity_op<double>, Eigen::Matrix<double, 3, 3> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:846:33:   required from ‘static Derived& Eigen::internal::setIdentity_impl<Derived, Big>::run(Derived&) [with Derived = Eigen::Matrix<double, 3, 3>; bool Big = false]’
  846 |     return m = Derived::Identity(m.rows(), m.cols());
      |                ~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:875:50:   required from ‘Derived& Eigen::MatrixBase<Derived>::setIdentity() [with Derived = Eigen::Matrix<double, 3, 3>]’
  875 |   return internal::setIdentity_impl<Derived>::run(derived());
      |          ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:892:21:   required from ‘Derived& Eigen::MatrixBase<Derived>::setIdentity(Eigen::Index, Eigen::Index) [with Derived = Eigen::Matrix<double, 3, 3>; Eigen::Index = long int]’
  892 |   return setIdentity();
      |          ~~~~~~~~~~~^~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:700:45:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  700 |     if(m_computeFullV) m_matrixV.setIdentity(m_cols,m_cols);
      |                        ~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, 1, false> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Visitor.h:79:51:   required from ‘class Eigen::internal::visitor_evaluator<Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, 1, false> >’
   79 |     CoeffReadCost = internal::evaluator<XprType>::CoeffReadCost
      |                                                   ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Visitor.h:123:17:   required from ‘void Eigen::DenseBase<Derived>::visit(Visitor&) const [with Visitor = Eigen::internal::max_coeff_visitor<Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, 1, false>, 0>; Derived = Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, 1, false>]’
  123 |   ThisEvaluator thisEval(derived());
      |                 ^~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Visitor.h:374:14:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::maxCoeff(IndexType*) const [with int NaNPropagation = 0; IndexType = long int; Derived = Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, 1, false>; typename Eigen::internal::traits<T>::Scalar = double]’
  374 |   this->visit(maxVisitor);
      |   ~~~~~~~~~~~^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:501:37:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::maxCoeff(IndexType*) const [with IndexType = long int; Derived = Eigen::Block<Eigen::Matrix<double, 2, 1>, -1, 1, false>; typename Eigen::internal::traits<T>::Scalar = double]’
  501 |       return maxCoeff<PropagateFast>(index);
      |              ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:777:88:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  777 |     RealScalar maxRemainingSingularValue = m_singularValues.tail(m_diagSize-i).maxCoeff(&pos);
      |                                            ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘Eigen::Index Eigen::internal::first_default_aligned(const Eigen::DenseBase<Derived>&) [with Derived = Eigen::CwiseUnaryOp<scalar_abs2_op<double>, const Eigen::Matrix<double, -1, 1> >; Eigen::Index = long int]’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Redux.h:243:63:   required from ‘static Eigen::internal::redux_impl<Func, Evaluator, 3, 0>::Scalar Eigen::internal::redux_impl<Func, Evaluator, 3, 0>::run(const Evaluator&, const Func&, const XprType&) [with XprType = Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Matrix<double, -1, 1> >; Func = Eigen::internal::scalar_sum_op<double, double>; Evaluator = Eigen::internal::redux_evaluator<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Matrix<double, -1, 1> > >; Scalar = double]’
  243 |     const Index alignedStart = internal::first_default_aligned(xpr);
      |                                ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Redux.h:418:56:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::redux(const Func&) const [with BinaryOp = Eigen::internal::scalar_sum_op<double, double>; Derived = Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Matrix<double, -1, 1> >; typename Eigen::internal::traits<T>::Scalar = double]’
  418 |   return internal::redux_impl<Func, ThisEvaluator>::run(thisEval, func, derived());
      |          ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Redux.h:463:25:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::sum() const [with Derived = Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Matrix<double, -1, 1> >; typename Eigen::internal::traits<T>::Scalar = double]’
  463 |   return derived().redux(Eigen::internal::scalar_sum_op<Scalar,Scalar>());
      |          ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Dot.h:98:46:   required from ‘typename Eigen::NumTraits<typename Eigen::internal::traits<T>::Scalar>::Real Eigen::MatrixBase<Derived>::squaredNorm() const [with Derived = Eigen::Matrix<double, -1, 1>; typename Eigen::NumTraits<typename Eigen::internal::traits<T>::Scalar>::Real = double; typename Eigen::internal::traits<T>::Scalar = double]’
   98 |   return numext::real((*this).cwiseAbs2().sum());
      |                       ~~~~~~~~~~~~~~~~~~~~~~~^~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Dot.h:128:31:   required from ‘const Eigen::MatrixBase<Derived>::PlainObject Eigen::MatrixBase<Derived>::normalized() const [with Derived = Eigen::Matrix<double, -1, 1>; PlainObject = Eigen::Matrix<double, -1, 1>]’
  128 |   RealScalar z = n.squaredNorm();
      |                  ~~~~~~~~~~~~~^~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:641:28:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  641 |   Vector3 v0 = a.normalized();
      |                ~~~~~~~~~~~~^~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:654:74: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  654 |   return internal::first_aligned<int(unpacket_traits<DefaultPacketType>::alignment),Derived>(m);
      |                                                                          ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 8 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 0, 3, 2>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 0, 3, 2>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 0, 3, 2>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, -1, -1, 0, 3, 2> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, -1, -1, 0, 3, 2> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 0, 3, 2> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   [ skipping 4 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, 1, -1, 1, 1, 2> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, 1, -1, 1, 1, 2> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, 1, -1, 1, 1, 2> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 5 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Transpose.h:118:37:   required from ‘class Eigen::TransposeImpl<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, Eigen::Dense>’
  118 | template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
      |                                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Transpose.h:52:37:   required from ‘class Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >’
   52 | template<typename MatrixType> class Transpose
      |                                     ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Householder/Householder.h:129:38:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Product<Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 0>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Product<Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 0> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Product<Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 0> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:120:7:   required from ‘class Eigen::internal::dense_product_base<Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 0, 3>’
  120 | class dense_product_base
      |       ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:152:7:   required from ‘class Eigen::ProductImpl<Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 0, Eigen::Dense>’
  152 | class ProductImpl<Lhs,Rhs,Option,Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:71:7:   required from ‘class Eigen::Product<Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 0>’
   71 | class Product : public ProductImpl<_Lhs,_Rhs,Option,
      |       ^~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Householder/Householder.h:129:41:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 1, -1, false>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 1, -1, false>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 1, -1, false>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 1, -1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 1, -1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 1, -1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 2> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 2> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 2> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 2> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:38:28:   required from ‘struct Eigen::internal::traits<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 2> >, const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> > > >’
   38 |                    >::type Scalar;
      |                            ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 2> >, const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   [ skipping 4 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 2> >, const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> > >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 2> >, const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> > > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 2> >, const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> > > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 2> >, const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 2> >, const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> > >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Householder/Householder.h:131:25:   required from ‘void Eigen::MatrixBase<Derived>::applyHouseholderOnTheLeft(const EssentialPart&, const Scalar&, Scalar*) [with EssentialPart = Eigen::VectorBlock<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1>; Derived = Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; Scalar = double]’
  131 |     this->row(0) -= tau * tmp;
      |                     ~~~~^~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/QR/ColPivHouseholderQR.h:550:35:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Householder/Householder.h:132:29:   required from ‘void Eigen::MatrixBase<Derived>::applyHouseholderOnTheLeft(const EssentialPart&, const Scalar&, Scalar*) [with EssentialPart = Eigen::VectorBlock<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1>; Derived = Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; Scalar = double]’
  132 |     bottom.noalias() -= tau * essential * tmp;
      |                         ~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/QR/ColPivHouseholderQR.h:550:35:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 0>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 0> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 0> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:120:7:   required from ‘class Eigen::internal::dense_product_base<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 0, 4>’
  120 | class dense_product_base
      |       ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:152:7:   required from ‘class Eigen::ProductImpl<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 0, Eigen::Dense>’
  152 | class ProductImpl<Lhs,Rhs,Option,Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:71:7:   required from ‘class Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 0>’
   71 | class Product : public ProductImpl<_Lhs,_Rhs,Option,
      |       ^~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Householder/Householder.h:132:41:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 3, 1> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 3, 1> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 3, 1> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 3, 1> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:347:30:   required from ‘Derived& Eigen::DenseBase<Derived>::setConstant(const Scalar&) [with Derived = Eigen::Diagonal<Eigen::Matrix<double, 3, 3>, 0>; Scalar = double]’
  347 |   return derived() = Constant(rows(), cols(), val);
      |                      ~~~~~~~~^~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:700:10:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 3, 3> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 3, 3> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 3, 3> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 3, 3> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/TriangularMatrix.h:406:42:   required from ‘Eigen::TriangularViewImpl<_MatrixType, _Mode, Eigen::Dense>::TriangularViewType& Eigen::TriangularViewImpl<_MatrixType, _Mode, Eigen::Dense>::setConstant(const Scalar&) [with _MatrixType = Eigen::Matrix<double, 3, 3>; unsigned int _Mode = 10; TriangularViewType = Eigen::TriangularView<Eigen::Matrix<double, 3, 3>, 10>; Scalar = double]’
  406 |     { return *this = MatrixType::Constant(derived().rows(), derived().cols(), value); }
      |                      ~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/TriangularMatrix.h:409:44:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, 3, 3> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, 3, 3> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, 3, 3> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, 3, 3> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/SelfCwiseBinaryOp.h:20:67:   required from ‘Derived& Eigen::DenseBase<Derived>::operator*=(const Scalar&) [with Derived = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; Scalar = double]’
   20 |   internal::call_assignment(this->derived(), PlainObject::Constant(rows(),cols(),other), internal::mul_assign_op<Scalar,Scalar>());
      |                                              ~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Householder/Householder.h:161:11:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, 1, 0, 3, 1> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, 1, 0, 3, 1> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, 1, 0, 3, 1> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, 1, 0, 3, 1> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:347:30:   required from ‘Derived& Eigen::DenseBase<Derived>::setConstant(const Scalar&) [with Derived = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true>, -1, 1, false>; Scalar = double]’
  347 |   return derived() = Constant(rows(), cols(), val);
      |                      ~~~~~~~~^~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:548:10:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 8 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 5 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> >, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Transpose.h:118:37:   required from ‘class Eigen::TransposeImpl<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false>, Eigen::Dense>’
  118 | template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
      |                                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Transpose.h:52:37:   required from ‘class Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> >’
   52 | template<typename MatrixType> class Transpose
      |                                     ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Householder/BlockHouseholder.h:63:90:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> >, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Householder/BlockHouseholder.h:63:57:   required from ‘void Eigen::internal::make_block_householder_triangular_factor(TriangularFactorType&, const VectorsType&, const CoeffsType&) [with TriangularFactorType = Eigen::Matrix<double, -1, -1, 1, -1, -1>; VectorsType = Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; CoeffsType = Eigen::VectorBlock<const Eigen::Matrix<double, 2, 1>, -1>]’
   63 |       triFactor.row(i).tail(rt).noalias() = -hCoeffs(i) * vectors.col(i).tail(rs).adjoint()
      |                                             ~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Householder/BlockHouseholder.h:92:55:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 5 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >, Eigen::TriangularView<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 5>, 0>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >, Eigen::TriangularView<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 5>, 0> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >, Eigen::TriangularView<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 5>, 0> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:120:7:   required from ‘class Eigen::internal::dense_product_base<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >, Eigen::TriangularView<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 5>, 0, 3>’
  120 | class dense_product_base
      |       ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:152:7:   required from ‘class Eigen::ProductImpl<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >, Eigen::TriangularView<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 5>, 0, Eigen::Dense>’
  152 | class ProductImpl<Lhs,Rhs,Option,Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:71:7:   required from ‘class Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >, Eigen::TriangularView<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 5>, 0>’
   71 | class Product : public ProductImpl<_Lhs,_Rhs,Option,
      |       ^~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Householder/BlockHouseholder.h:64:57:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:38:28:   required from ‘struct Eigen::internal::traits<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> > >’
   38 |                    >::type Scalar;
      |                            ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   [ skipping 4 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Householder/BlockHouseholder.h:73:50:   required from ‘void Eigen::internal::make_block_householder_triangular_factor(TriangularFactorType&, const VectorsType&, const CoeffsType&) [with TriangularFactorType = Eigen::Matrix<double, -1, -1, 1, -1, -1>; VectorsType = Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; CoeffsType = Eigen::VectorBlock<const Eigen::Matrix<double, 2, 1>, -1>]’
   73 |           triFactor.row(i).tail(nbVecs-j-1) += z * triFactor.row(j).tail(nbVecs-j-1);
      |                                                ~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Householder/BlockHouseholder.h:92:55:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, -1>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, -1>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 1, -1>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, 1, -1> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, 1, -1> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, 1, -1> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   [ skipping 4 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Matrix<double, 3, 3>, 3, 1, true> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:774:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Matrix<double, 3, 1>; SrcXprType = Eigen::Block<const Eigen::Matrix<double, 3, 3>, 3, 1, true>; Functor = assign_op<double, double>]’
  774 |   SrcEvaluatorType srcEvaluator(src);
      |                    ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Matrix<double, 3, 1>; SrcXprType = Eigen::Block<const Eigen::Matrix<double, 3, 3>, 3, 1, true>; Functor = Eigen::internal::assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   required from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Matrix<double, 3, 1>; Src = Eigen::Block<const Eigen::Matrix<double, 3, 3>, 3, 1, true>; Func = assign_op<double, double>]’
  890 |   Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:797:41:   required from ‘Derived& Eigen::PlainObjectBase<Derived>::_set_noalias(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Block<const Eigen::Matrix<double, 3, 3>, 3, 1, true>; Derived = Eigen::Matrix<double, 3, 1>]’
  797 |       internal::call_assignment_no_alias(this->derived(), other.derived(), internal::assign_op<Scalar,typename OtherDerived::Scalar>());
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:594:19:   required from ‘Eigen::PlainObjectBase<Derived>::PlainObjectBase(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Block<const Eigen::Matrix<double, 3, 3>, 3, 1, true>; Derived = Eigen::Matrix<double, 3, 1>]’
  594 |       _set_noalias(other);
      |       ~~~~~~~~~~~~^~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Matrix.h:423:29:   required from ‘Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::Matrix(const Eigen::EigenBase<OtherDerived>&) [with OtherDerived = Eigen::Block<const Eigen::Matrix<double, 3, 3>, 3, 1, true>; _Scalar = double; int _Rows = 3; int _Cols = 1; int _Options = 0; int _MaxRows = 3; int _MaxCols = 1]’
  423 |       : Base(other.derived())
      |                             ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:658:13:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  658 |     Vector3 axis = svd.matrixV().col(2);
      |             ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, 4, 1>, 3, 1, false> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:780:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, 4, 1>, 3, 1, false>; SrcXprType = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> > >; Functor = assign_op<double, double>]’
  780 |   DstEvaluatorType dstEvaluator(dst);
      |                    ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, 4, 1>, 3, 1, false>; SrcXprType = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> > >; Functor = Eigen::internal::assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   required from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Block<Eigen::Matrix<double, 4, 1>, 3, 1, false>; Src = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> > >; Func = assign_op<double, double>]’
  890 |   Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:858:27:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Block<Eigen::Matrix<double, 4, 1>, 3, 1, false>; Src = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> > >; Func = assign_op<double, double>; typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type = void*; typename evaluator_traits<SrcXprType>::Shape = Eigen::DenseShape]’
  858 |   call_assignment_no_alias(dst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:836:18:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&) [with Dst = Eigen::Block<Eigen::Matrix<double, 4, 1>, 3, 1, false>; Src = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> > >]’
  836 |   call_assignment(dst, src, internal::assign_op<typename Dst::Scalar,typename Src::Scalar>());
      |   ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Assign.h:66:28:   required from ‘Derived& Eigen::MatrixBase<Derived>::operator=(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Matrix<double, 3, 1>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> > >; Derived = Eigen::Block<Eigen::Matrix<double, 4, 1>, 3, 1, false>]’
   66 |   internal::call_assignment(derived(), other.derived());
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:662:17:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  662 |     this->vec() = axis * sqrt(Scalar(1) - w2);
      |     ~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 1, 3, false> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:780:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 1, 3, false>; SrcXprType = Eigen::Transpose<Eigen::Matrix<double, 3, 1> >; Functor = assign_op<double, double>]’
  780 |   DstEvaluatorType dstEvaluator(dst);
      |                    ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 1, 3, false>; SrcXprType = Eigen::Transpose<Eigen::Matrix<double, 3, 1> >; Functor = Eigen::internal::assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   required from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 1, 3, false>; Src = Eigen::Transpose<Eigen::Matrix<double, 3, 1> >; Func = assign_op<double, double>]’
  890 |   Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:858:27:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 1, 3, false>; Src = Eigen::Transpose<Eigen::Matrix<double, 3, 1> >; Func = assign_op<double, double>; typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type = void*; typename evaluator_traits<SrcXprType>::Shape = Eigen::DenseShape]’
  858 |   call_assignment_no_alias(dst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:836:18:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&) [with Dst = Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 1, 3, false>; Src = Eigen::Transpose<Eigen::Matrix<double, 3, 1> >]’
  836 |   call_assignment(dst, src, internal::assign_op<typename Dst::Scalar,typename Src::Scalar>());
      |   ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Assign.h:66:28:   required from ‘Derived& Eigen::MatrixBase<Derived>::operator=(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Transpose<Eigen::Matrix<double, 3, 1> >; Derived = Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, 1, 3, false>]’
   66 |   internal::call_assignment(derived(), other.derived());
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CommaInitializer.h:99:64:   required from ‘Eigen::CommaInitializer<MatrixType>& Eigen::CommaInitializer<MatrixType>::operator,(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Transpose<Eigen::Matrix<double, 3, 1> >; XprType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
   98 |     m_xpr.template block<OtherDerived::RowsAtCompileTime, OtherDerived::ColsAtCompileTime>
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
   99 |                     (m_row, m_col, other.rows(), other.cols()) = other;
      |                     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:656:46:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  656 |     Matrix<Scalar,2,3> m; m << v0.transpose(), v1.transpose();
      |                           ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseUnaryOp.h:94:7:   required from ‘class Eigen::CwiseUnaryOpImpl<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, Eigen::Dense>’
   94 | class CwiseUnaryOpImpl
      |       ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseUnaryOp.h:55:7:   required from ‘class Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true> >’
   55 | class CwiseUnaryOp : public CwiseUnaryOpImpl<UnaryOp, XprType, typename internal::traits<XprType>::StorageKind>, internal::no_assignment_operator
      |       ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Dot.h:98:40:   required from ‘typename Eigen::NumTraits<typename Eigen::internal::traits<T>::Scalar>::Real Eigen::MatrixBase<Derived>::squaredNorm() const [with Derived = Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>; typename Eigen::NumTraits<typename Eigen::internal::traits<T>::Scalar>::Real = double; typename Eigen::internal::traits<T>::Scalar = double]’
   98 |   return numext::real((*this).cwiseAbs2().sum());
      |                       ~~~~~~~~~~~~~~~~~^~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Dot.h:110:23:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> > >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> > > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> > > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> > >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Householder/Householder.h:93:22:   required from ‘void Eigen::MatrixBase<Derived>::makeHouseholder(EssentialPart&, Scalar&, RealScalar&) const [with EssentialPart = Eigen::VectorBlock<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1>; Derived = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>; Scalar = double; RealScalar = double]’
   93 |     essential = tail / (c0 - beta);
      |                 ~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Householder/Householder.h:46:18:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, 3, 2> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, 3, 2> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, 3, 2> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, 3, 2> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/SelfCwiseBinaryOp.h:20:67:   required from ‘Derived& Eigen::DenseBase<Derived>::operator*=(const Scalar&) [with Derived = Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; Scalar = double]’
   20 |   internal::call_assignment(this->derived(), PlainObject::Constant(rows(),cols(),other), internal::mul_assign_op<Scalar,Scalar>());
      |                                              ~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Householder/Householder.h:123:11:   required from ‘void Eigen::MatrixBase<Derived>::applyHouseholderOnTheLeft(const EssentialPart&, const Scalar&, Scalar*) [with EssentialPart = Eigen::VectorBlock<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1>; Derived = Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; Scalar = double]’
  123 |     *this *= Scalar(1)-tau;
      |     ~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/QR/ColPivHouseholderQR.h:550:35:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseUnaryOp.h:94:7:   required from ‘class Eigen::CwiseUnaryOpImpl<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, Eigen::Dense>’
   94 | class CwiseUnaryOpImpl
      |       ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseUnaryOp.h:55:7:   required from ‘class Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >’
   55 | class CwiseUnaryOp : public CwiseUnaryOpImpl<UnaryOp, XprType, typename internal::traits<XprType>::StorageKind>, internal::no_assignment_operator
      |       ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Dot.h:98:40:   required from ‘typename Eigen::NumTraits<typename Eigen::internal::traits<T>::Scalar>::Real Eigen::MatrixBase<Derived>::squaredNorm() const [with Derived = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>; typename Eigen::NumTraits<typename Eigen::internal::traits<T>::Scalar>::Real = double; typename Eigen::internal::traits<T>::Scalar = double]’
   98 |   return numext::real((*this).cwiseAbs2().sum());
      |                       ~~~~~~~~~~~~~~~~~^~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Dot.h:110:23:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:780:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>; SrcXprType = Eigen::Transpose<Eigen::Matrix<double, 3, 1> >; Functor = assign_op<double, double>]’
  780 |   DstEvaluatorType dstEvaluator(dst);
      |                    ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>; SrcXprType = Eigen::Transpose<Eigen::Matrix<double, 3, 1> >; Functor = Eigen::internal::assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   required from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>; Src = Eigen::Transpose<Eigen::Matrix<double, 3, 1> >; Func = assign_op<double, double>]’
  890 |   Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:858:27:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>; Src = Eigen::Transpose<Eigen::Matrix<double, 3, 1> >; Func = assign_op<double, double>; typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type = void*; typename evaluator_traits<SrcXprType>::Shape = Eigen::DenseShape]’
  858 |   call_assignment_no_alias(dst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:836:18:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&) [with Dst = Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>; Src = Eigen::Transpose<Eigen::Matrix<double, 3, 1> >]’
  836 |   call_assignment(dst, src, internal::assign_op<typename Dst::Scalar,typename Src::Scalar>());
      |   ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Assign.h:66:28:   required from ‘Derived& Eigen::MatrixBase<Derived>::operator=(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Transpose<Eigen::Matrix<double, 3, 1> >; Derived = Eigen::Block<Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>]’
   66 |   internal::call_assignment(derived(), other.derived());
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CommaInitializer.h:48:51:   required from ‘Eigen::CommaInitializer<MatrixType>::CommaInitializer(XprType&, const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Transpose<Eigen::Matrix<double, 3, 1> >; XprType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
   48 |     m_xpr.block(0, 0, other.rows(), other.cols()) = other;
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CommaInitializer.h:159:10:   required from ‘Eigen::CommaInitializer<Derived> Eigen::DenseBase<Derived>::operator<<(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::Transpose<Eigen::Matrix<double, 3, 1> >; Derived = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  159 |   return CommaInitializer<Derived>(*static_cast<Derived *>(this), other);
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:656:29:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  656 |     Matrix<Scalar,2,3> m; m << v0.transpose(), v1.transpose();
      |                           ~~^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, 1, 2>, 1, -1, false> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Visitor.h:79:51:   required from ‘class Eigen::internal::visitor_evaluator<Eigen::Block<Eigen::Matrix<double, 1, 2>, 1, -1, false> >’
   79 |     CoeffReadCost = internal::evaluator<XprType>::CoeffReadCost
      |                                                   ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Visitor.h:123:17:   required from ‘void Eigen::DenseBase<Derived>::visit(Visitor&) const [with Visitor = Eigen::internal::max_coeff_visitor<Eigen::Block<Eigen::Matrix<double, 1, 2>, 1, -1, false>, 0>; Derived = Eigen::Block<Eigen::Matrix<double, 1, 2>, 1, -1, false>]’
  123 |   ThisEvaluator thisEval(derived());
      |                 ^~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Visitor.h:374:14:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::maxCoeff(IndexType*) const [with int NaNPropagation = 0; IndexType = long int; Derived = Eigen::Block<Eigen::Matrix<double, 1, 2>, 1, -1, false>; typename Eigen::internal::traits<T>::Scalar = double]’
  374 |   this->visit(maxVisitor);
      |   ~~~~~~~~~~~^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:501:37:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::maxCoeff(IndexType*) const [with IndexType = long int; Derived = Eigen::Block<Eigen::Matrix<double, 1, 2>, 1, -1, false>; typename Eigen::internal::traits<T>::Scalar = double]’
  501 |       return maxCoeff<PropagateFast>(index);
      |              ~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/QR/ColPivHouseholderQR.h:521:90:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseUnaryOp.h:94:7:   required from ‘class Eigen::CwiseUnaryOpImpl<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>, Eigen::Dense>’
   94 | class CwiseUnaryOpImpl
      |       ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseUnaryOp.h:55:7:   required from ‘class Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false> >’
   55 | class CwiseUnaryOp : public CwiseUnaryOpImpl<UnaryOp, XprType, typename internal::traits<XprType>::StorageKind>, internal::no_assignment_operator
      |       ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Dot.h:98:40:   required from ‘typename Eigen::NumTraits<typename Eigen::internal::traits<T>::Scalar>::Real Eigen::MatrixBase<Derived>::squaredNorm() const [with Derived = Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>; typename Eigen::NumTraits<typename Eigen::internal::traits<T>::Scalar>::Real = double; typename Eigen::internal::traits<T>::Scalar = double]’
   98 |   return numext::real((*this).cwiseAbs2().sum());
      |                       ~~~~~~~~~~~~~~~~~^~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Householder/Householder.h:78:71:   [ skipping 4 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1043:41:   required from ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >’
 1043 |     CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
      |                                         ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:142:7:   required from ‘Eigen::DenseCoeffsBase<Derived, 0>::CoeffReturnType Eigen::DenseCoeffsBase<Derived, 0>::coeff(Eigen::Index) const [with Derived = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>; CoeffReturnType = const double&; Eigen::Index = long int]’
  142 |       EIGEN_STATIC_ASSERT(internal::evaluator<Derived>::Flags & LinearAccessBit,
      |                                                         ^~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Householder/Householder.h:79:20:   required from ‘void Eigen::MatrixBase<Derived>::makeHouseholder(EssentialPart&, Scalar&, RealScalar&) const [with EssentialPart = Eigen::VectorBlock<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1>; Derived = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>; Scalar = double; RealScalar = double]’
   79 |   Scalar c0 = coeff(0);
      |               ~~~~~^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Householder/Householder.h:46:18:   required from ‘void Eigen::MatrixBase<Derived>::makeHouseholderInPlace(Scalar&, RealScalar&) [with Derived = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>; Scalar = double; RealScalar = double]’
   46 |   makeHouseholder(essentialPart, tau, beta);
      |   ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/QR/ColPivHouseholderQR.h:540:52:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:142:7:   required from ‘Eigen::DenseCoeffsBase<Derived, 0>::CoeffReturnType Eigen::DenseCoeffsBase<Derived, 0>::coeff(Eigen::Index) const [with Derived = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>; CoeffReturnType = const double&; Eigen::Index = long int]’
  142 |       EIGEN_STATIC_ASSERT(internal::evaluator<Derived>::Flags & LinearAccessBit,
      |                                                         ^~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Householder/Householder.h:79:20:   required from ‘void Eigen::MatrixBase<Derived>::makeHouseholder(EssentialPart&, Scalar&, RealScalar&) const [with EssentialPart = Eigen::VectorBlock<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1>; Derived = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>; Scalar = double; RealScalar = double]’
   79 |   Scalar c0 = coeff(0);
      |               ~~~~~^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Householder/Householder.h:46:18:   required from ‘void Eigen::MatrixBase<Derived>::makeHouseholderInPlace(Scalar&, RealScalar&) [with Derived = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>; Scalar = double; RealScalar = double]’
   46 |   makeHouseholder(essentialPart, tau, beta);
      |   ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/QR/ColPivHouseholderQR.h:540:52:   required from ‘void Eigen::ColPivHouseholderQR<MatrixType>::computeInPlace() [with _MatrixType = Eigen::Matrix<double, 3, 2, 0, 3, 2>]’
  540 |     m_qr.col(k).tail(rows-k).makeHouseholderInPlace(m_hCoeffs.coeffRef(k), beta);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/QR/ColPivHouseholderQR.h:477:3:   required from ‘Eigen::ColPivHouseholderQR<_MatrixType>& Eigen::ColPivHouseholderQR<MatrixType>::compute(const Eigen::EigenBase<OtherDerived>&) [with InputType = Eigen::Matrix<double, 3, 2, 0, 3, 2>; _MatrixType = Eigen::Matrix<double, 3, 2, 0, 3, 2>]’
  477 |   computeInPlace();
      |   ^~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Matrix<double, 2, 1>, -1, 1, false> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:142:7:   required from ‘Eigen::DenseCoeffsBase<Derived, 0>::CoeffReturnType Eigen::DenseCoeffsBase<Derived, 0>::coeff(Eigen::Index) const [with Derived = Eigen::Block<const Eigen::Matrix<double, 2, 1>, -1, 1, false>; CoeffReturnType = double; Eigen::Index = long int]’
  142 |       EIGEN_STATIC_ASSERT(internal::evaluator<Derived>::Flags & LinearAccessBit,
      |                                                         ^~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:182:19:   required from ‘Eigen::DenseCoeffsBase<Derived, 0>::CoeffReturnType Eigen::DenseCoeffsBase<Derived, 0>::operator()(Eigen::Index) const [with Derived = Eigen::Block<const Eigen::Matrix<double, 2, 1>, -1, 1, false>; CoeffReturnType = double; Eigen::Index = long int]’
  182 |       return coeff(index);
      |              ~~~~~^~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Householder/BlockHouseholder.h:63:53:   required from ‘void Eigen::internal::make_block_householder_triangular_factor(TriangularFactorType&, const VectorsType&, const CoeffsType&) [with TriangularFactorType = Eigen::Matrix<double, -1, -1, 1, -1, -1>; VectorsType = Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; CoeffsType = Eigen::VectorBlock<const Eigen::Matrix<double, 2, 1>, -1>]’
   63 |       triFactor.row(i).tail(rt).noalias() = -hCoeffs(i) * vectors.col(i).tail(rs).adjoint()
      |                                              ~~~~~~~^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Householder/BlockHouseholder.h:92:55:   required from ‘void Eigen::internal::apply_block_householder_on_the_left(MatrixType&, const VectorsType&, const CoeffsType&, bool) [with MatrixType = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; VectorsType = Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; CoeffsType = Eigen::VectorBlock<const Eigen::Matrix<double, 2, 1>, -1>]’
   92 |   if(forward) make_block_householder_triangular_factor(T, vectors, hCoeffs);
      |               ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Householder/HouseholderSequence.h:399:46:   required from ‘void Eigen::HouseholderSequence<VectorsType, CoeffsType, Side>::applyThisOnTheLeft(Dest&, Workspace&, bool) const [with Dest = Eigen::Matrix<double, 3, 3>; Workspace = Eigen::Matrix<double, 1, 3>; VectorsType = Eigen::Matrix<double, 3, 2, 0, 3, 2>; CoeffsType = Eigen::Matrix<double, 2, 1>; int Side = 1]’
  399 |           apply_block_householder_on_the_left(sub_dst, sub_vecs, m_coeffs.segment(k, bs), !m_reverse);
      |           ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Product<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 1>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Product<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 1> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Product<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 1> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:120:7:   required from ‘class Eigen::internal::dense_product_base<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 1, 3>’
  120 | class dense_product_base
      |       ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:152:7:   required from ‘class Eigen::ProductImpl<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 1, Eigen::Dense>’
  152 | class ProductImpl<Lhs,Rhs,Option,Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:71:7:   required from ‘class Eigen::Product<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 1>’
   71 | class Product : public ProductImpl<_Lhs,_Rhs,Option,
      |       ^~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:402:50:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> > >, Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> > >, Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> > >, Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:120:7:   required from ‘class Eigen::internal::dense_product_base<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> > >, Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, 4>’
  120 | class dense_product_base
      |       ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:152:7:   required from ‘class Eigen::ProductImpl<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> > >, Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, Eigen::Dense>’
  152 | class ProductImpl<Lhs,Rhs,Option,Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:71:7:   required from ‘class Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> > >, Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1>’
   71 | class Product : public ProductImpl<_Lhs,_Rhs,Option,
      |       ^~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:416:50:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Product<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Product<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Product<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:120:7:   required from ‘class Eigen::internal::dense_product_base<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, 3>’
  120 | class dense_product_base
      |       ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:152:7:   required from ‘class Eigen::ProductImpl<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, Eigen::Dense>’
  152 | class ProductImpl<Lhs,Rhs,Option,Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:71:7:   required from ‘class Eigen::Product<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1>’
   71 | class Product : public ProductImpl<_Lhs,_Rhs,Option,
      |       ^~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:402:50:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:120:7:   required from ‘class Eigen::internal::dense_product_base<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1, 4>’
  120 | class dense_product_base
      |       ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:152:7:   required from ‘class Eigen::ProductImpl<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1, Eigen::Dense>’
  152 | class ProductImpl<Lhs,Rhs,Option,Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:71:7:   required from ‘class Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1>’
   71 | class Product : public ProductImpl<_Lhs,_Rhs,Option,
      |       ^~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:416:50:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 0, -1, 3>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 0, -1, 3>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 0, -1, 3>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, -1, -1, 0, -1, 3> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, -1, -1, 0, -1, 3> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 0, -1, 3> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:739:41:   required from ‘struct Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> > >, Eigen::internal::IndexBased, Eigen::internal::IndexBased, double, double>’
  739 |     CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
      |                                         ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   required from ‘struct Eigen::internal::evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> > > >’
  722 | struct evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:774:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Matrix<double, 2, 2>; SrcXprType = Eigen::CwiseBinaryOp<scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> > >; Functor = assign_op<double, double>]’
  774 |   SrcEvaluatorType srcEvaluator(src);
      |                    ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Matrix<double, 2, 2>; SrcXprType = Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> > >; Functor = Eigen::internal::assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   [ skipping 4 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Matrix.h:225:24:   required from ‘Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::operator=(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Matrix<double, 2, 3, 0, 2, 3>, -1, -1, false>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> > >; _Scalar = double; int _Rows = 2; int _Cols = 2; int _Options = 0; int _MaxRows = 2; int _MaxCols = 2]’
  225 |       return Base::_set(other);
      |              ~~~~~~~~~~^~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:697:18:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  697 |     m_workMatrix = matrix.block(0,0,m_diagSize,m_diagSize) / scale;
      |     ~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:564:45:   required from ‘struct Eigen::internal::unary_evaluator<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false> >, Eigen::internal::IndexBased, double>’
  564 |     CoeffReadCost = int(evaluator<ArgType>::CoeffReadCost) + int(functor_traits<UnaryOp>::Cost),
      |                                             ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:90:8:   required from ‘struct Eigen::internal::evaluator<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false> > >’
   90 | struct evaluator : public unary_evaluator<T>
      |        ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Redux.h:357:7:   required from ‘class Eigen::internal::redux_evaluator<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false> > >’
  357 | class redux_evaluator : public internal::evaluator<_XprType>
      |       ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Redux.h:414:17:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::redux(const Func&) const [with BinaryOp = Eigen::internal::scalar_sum_op<double, double>; Derived = Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false> >; typename Eigen::internal::traits<T>::Scalar = double]’
  414 |   ThisEvaluator thisEval(derived());
      |                 ^~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Redux.h:463:25:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Product<Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 1>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Product<Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 1> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Product<Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 1> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:120:7:   required from ‘class Eigen::internal::dense_product_base<Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 1, 3>’
  120 | class dense_product_base
      |       ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:152:7:   required from ‘class Eigen::ProductImpl<Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 1, Eigen::Dense>’
  152 | class ProductImpl<Lhs,Rhs,Option,Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:71:7:   required from ‘class Eigen::Product<Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 1>’
   71 | class Product : public ProductImpl<_Lhs,_Rhs,Option,
      |       ^~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:402:50:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:120:7:   required from ‘class Eigen::internal::dense_product_base<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1, 4>’
  120 | class dense_product_base
      |       ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:152:7:   required from ‘class Eigen::ProductImpl<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1, Eigen::Dense>’
  152 | class ProductImpl<Lhs,Rhs,Option,Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Product.h:71:7:   required from ‘class Eigen::Product<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1>’
   71 | class Product : public ProductImpl<_Lhs,_Rhs,Option,
      |       ^~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:416:50:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:780:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; SrcXprType = Eigen::CwiseNullaryOp<scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, 3, 3> >; Functor = mul_assign_op<double, double>]’
  780 |   DstEvaluatorType dstEvaluator(dst);
      |                    ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; SrcXprType = Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, 3, 3> >; Functor = Eigen::internal::mul_assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   required from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; Src = Eigen::CwiseNullaryOp<scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, 3, 3> >; Func = mul_assign_op<double, double>]’
  890 |   Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:858:27:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; Src = Eigen::CwiseNullaryOp<scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, 3, 3> >; Func = mul_assign_op<double, double>; typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type = void*; typename evaluator_traits<SrcXprType>::Shape = Eigen::DenseShape]’
  858 |   call_assignment_no_alias(dst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/SelfCwiseBinaryOp.h:20:28:   required from ‘Derived& Eigen::DenseBase<Derived>::operator*=(const Scalar&) [with Derived = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; Scalar = double]’
   20 |   internal::call_assignment(this->derived(), PlainObject::Constant(rows(),cols(),other), internal::mul_assign_op<Scalar,Scalar>());
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Householder/Householder.h:161:11:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, 1, true> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:774:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> >; SrcXprType = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, 1, true>; Functor = add_assign_op<double, double>]’
  774 |   SrcEvaluatorType srcEvaluator(src);
      |                    ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> >; SrcXprType = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, 1, true>; Functor = Eigen::internal::add_assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   required from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> >; Src = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, 1, true>; Func = add_assign_op<double, double>]’
  890 |   Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:858:27:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> >; Src = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, 1, true>; Func = add_assign_op<double, double>; typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type = void*; typename evaluator_traits<SrcXprType>::Shape = Eigen::DenseShape]’
  858 |   call_assignment_no_alias(dst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:177:18:   required from ‘Derived& Eigen::MatrixBase<Derived>::operator+=(const Eigen::MatrixBase<OtherDerived>&) [with OtherDerived = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, 1, true>; Derived = Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> >]’
  177 |   call_assignment(derived(), other.derived(), internal::add_assign_op<Scalar,typename OtherDerived::Scalar>());
      |   ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Householder/Householder.h:168:9:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 1, -1, false> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:774:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >; SrcXprType = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 1, -1, false>; Functor = add_assign_op<double, double>]’
  774 |   SrcEvaluatorType srcEvaluator(src);
      |                    ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >; SrcXprType = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 1, -1, false>; Functor = Eigen::internal::add_assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   required from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >; Src = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 1, -1, false>; Func = add_assign_op<double, double>]’
  890 |   Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:858:27:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >; Src = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 1, -1, false>; Func = add_assign_op<double, double>; typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type = void*; typename evaluator_traits<SrcXprType>::Shape = Eigen::DenseShape]’
  858 |   call_assignment_no_alias(dst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:177:18:   required from ‘Derived& Eigen::MatrixBase<Derived>::operator+=(const Eigen::MatrixBase<OtherDerived>&) [with OtherDerived = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, 1, -1, false>; Derived = Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >]’
  177 |   call_assignment(derived(), other.derived(), internal::add_assign_op<Scalar,typename OtherDerived::Scalar>());
      |   ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Householder/Householder.h:130:9:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:780:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; SrcXprType = Eigen::CwiseNullaryOp<scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, 3, 2> >; Functor = mul_assign_op<double, double>]’
  780 |   DstEvaluatorType dstEvaluator(dst);
      |                    ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; SrcXprType = Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, 3, 2> >; Functor = Eigen::internal::mul_assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   required from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; Src = Eigen::CwiseNullaryOp<scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, 3, 2> >; Func = mul_assign_op<double, double>]’
  890 |   Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:858:27:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; Src = Eigen::CwiseNullaryOp<scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, 3, 2> >; Func = mul_assign_op<double, double>; typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type = void*; typename evaluator_traits<SrcXprType>::Shape = Eigen::DenseShape]’
  858 |   call_assignment_no_alias(dst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/SelfCwiseBinaryOp.h:20:28:   required from ‘Derived& Eigen::DenseBase<Derived>::operator*=(const Scalar&) [with Derived = Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; Scalar = double]’
   20 |   internal::call_assignment(this->derived(), PlainObject::Constant(rows(),cols(),other), internal::mul_assign_op<Scalar,Scalar>());
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Householder/Householder.h:123:11:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 1, -1, false> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:774:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >; SrcXprType = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 1, -1, false>; Functor = add_assign_op<double, double>]’
  774 |   SrcEvaluatorType srcEvaluator(src);
      |                    ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >; SrcXprType = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 1, -1, false>; Functor = Eigen::internal::add_assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   required from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >; Src = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 1, -1, false>; Func = add_assign_op<double, double>]’
  890 |   Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:858:27:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >; Src = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 1, -1, false>; Func = add_assign_op<double, double>; typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type = void*; typename evaluator_traits<SrcXprType>::Shape = Eigen::DenseShape]’
  858 |   call_assignment_no_alias(dst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:177:18:   required from ‘Derived& Eigen::MatrixBase<Derived>::operator+=(const Eigen::MatrixBase<OtherDerived>&) [with OtherDerived = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 1, -1, false>; Derived = Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >]’
  177 |   call_assignment(derived(), other.derived(), internal::add_assign_op<Scalar,typename OtherDerived::Scalar>());
      |   ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Householder/Householder.h:130:9:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘Eigen::Index Eigen::internal::first_default_aligned(const Eigen::DenseBase<Derived>&) [with Derived = Eigen::CwiseUnaryOp<scalar_abs2_op<double>, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >; Eigen::Index = long int]’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Redux.h:243:63:   required from ‘static Eigen::internal::redux_impl<Func, Evaluator, 3, 0>::Scalar Eigen::internal::redux_impl<Func, Evaluator, 3, 0>::run(const Evaluator&, const Func&, const XprType&) [with XprType = Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >; Func = Eigen::internal::scalar_sum_op<double, double>; Evaluator = Eigen::internal::redux_evaluator<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> > >; Scalar = double]’
  243 |     const Index alignedStart = internal::first_default_aligned(xpr);
      |                                ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Redux.h:418:56:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::redux(const Func&) const [with BinaryOp = Eigen::internal::scalar_sum_op<double, double>; Derived = Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >; typename Eigen::internal::traits<T>::Scalar = double]’
  418 |   return internal::redux_impl<Func, ThisEvaluator>::run(thisEval, func, derived());
      |          ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Redux.h:463:25:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::sum() const [with Derived = Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >; typename Eigen::internal::traits<T>::Scalar = double]’
  463 |   return derived().redux(Eigen::internal::scalar_sum_op<Scalar,Scalar>());
      |          ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Dot.h:98:46:   required from ‘typename Eigen::NumTraits<typename Eigen::internal::traits<T>::Scalar>::Real Eigen::MatrixBase<Derived>::squaredNorm() const [with Derived = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>; typename Eigen::NumTraits<typename Eigen::internal::traits<T>::Scalar>::Real = double; typename Eigen::internal::traits<T>::Scalar = double]’
   98 |   return numext::real((*this).cwiseAbs2().sum());
      |                       ~~~~~~~~~~~~~~~~~~~~~~~^~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Dot.h:110:23:   required from ‘typename Eigen::NumTraits<typename Eigen::internal::traits<T>::Scalar>::Real Eigen::MatrixBase<Derived>::norm() const [with Derived = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>; typename Eigen::NumTraits<typename Eigen::internal::traits<T>::Scalar>::Real = double; typename Eigen::internal::traits<T>::Scalar = double]’
  110 |   return numext::sqrt(squaredNorm());
      |                       ^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/QR/ColPivHouseholderQR.h:567:77:   [ skipping 2 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:654:74: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  654 |   return internal::first_aligned<int(unpacket_traits<DefaultPacketType>::alignment),Derived>(m);
      |                                                                          ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:311:41:   required from ‘struct Eigen::internal::unary_evaluator<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, Eigen::internal::IndexBased, double>’
  311 |     CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
      |                                         ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:90:8:   required from ‘struct Eigen::internal::evaluator<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> > >’
   90 | struct evaluator : public unary_evaluator<T>
      |        ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/TriangularMatrix.h:730:8:   required from ‘struct Eigen::internal::unary_evaluator<Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 1>, Eigen::internal::IndexBased, double>’
  730 | struct unary_evaluator<TriangularView<MatrixType,Mode>, IndexBased>
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:90:8:   required from ‘struct Eigen::internal::evaluator<Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 1> >’
   90 | struct evaluator : public unary_evaluator<T>
      |        ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/TriangularMatrix.h:807:20:   [ skipping 8 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:231:24:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  231 |       svd.m_workMatrix = m_qr.matrixQR().block(0,0,matrix.rows(),matrix.rows()).template triangularView<Upper>().adjoint();
      |       ~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1043:41:   required from ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >’
 1043 |     CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
      |                                         ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:739:78:   required from ‘struct Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >, Eigen::internal::IndexBased, Eigen::internal::IndexBased, double, double>’
  739 |     CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
      |                                                                              ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   required from ‘struct Eigen::internal::evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> > >’
  722 | struct evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:774:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false>; SrcXprType = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >; Functor = add_assign_op<double, double>]’
  774 |   SrcEvaluatorType srcEvaluator(src);
      |                    ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:739:78:   required from ‘struct Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >, Eigen::internal::IndexBased, Eigen::internal::IndexBased, double, double>’
  739 |     CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
      |                                                                              ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   required from ‘struct Eigen::internal::evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> > >’
  722 | struct evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:774:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false>; SrcXprType = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >; Functor = add_assign_op<double, double>]’
  774 |   SrcEvaluatorType srcEvaluator(src);
      |                    ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false>; SrcXprType = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >; Functor = Eigen::internal::add_assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘Eigen::Index Eigen::internal::first_default_aligned(const Eigen::DenseBase<Derived>&) [with Derived = Eigen::CwiseUnaryOp<scalar_abs2_op<double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false> >; Eigen::Index = long int]’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Redux.h:243:63:   required from ‘static Eigen::internal::redux_impl<Func, Evaluator, 3, 0>::Scalar Eigen::internal::redux_impl<Func, Evaluator, 3, 0>::run(const Evaluator&, const Func&, const XprType&) [with XprType = Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false> >; Func = Eigen::internal::scalar_sum_op<double, double>; Evaluator = Eigen::internal::redux_evaluator<Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false> > >; Scalar = double]’
  243 |     const Index alignedStart = internal::first_default_aligned(xpr);
      |                                ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Redux.h:418:56:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::redux(const Func&) const [with BinaryOp = Eigen::internal::scalar_sum_op<double, double>; Derived = Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false> >; typename Eigen::internal::traits<T>::Scalar = double]’
  418 |   return internal::redux_impl<Func, ThisEvaluator>::run(thisEval, func, derived());
      |          ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Redux.h:463:25:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::sum() const [with Derived = Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs2_op<double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false> >; typename Eigen::internal::traits<T>::Scalar = double]’
  463 |   return derived().redux(Eigen::internal::scalar_sum_op<Scalar,Scalar>());
      |          ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Dot.h:98:46:   required from ‘typename Eigen::NumTraits<typename Eigen::internal::traits<T>::Scalar>::Real Eigen::MatrixBase<Derived>::squaredNorm() const [with Derived = Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>; typename Eigen::NumTraits<typename Eigen::internal::traits<T>::Scalar>::Real = double; typename Eigen::internal::traits<T>::Scalar = double]’
   98 |   return numext::real((*this).cwiseAbs2().sum());
      |                       ~~~~~~~~~~~~~~~~~~~~~~~^~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Householder/Householder.h:78:71:   required from ‘void Eigen::MatrixBase<Derived>::makeHouseholder(EssentialPart&, Scalar&, RealScalar&) const [with EssentialPart = Eigen::VectorBlock<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1>; Derived = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>; Scalar = double; RealScalar = double]’
   78 |   RealScalar tailSqNorm = size()==1 ? RealScalar(0) : tail.squaredNorm();
      |                                                       ~~~~~~~~~~~~~~~~^~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Householder/Householder.h:46:18:   [ skipping 3 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:654:74: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  654 |   return internal::first_aligned<int(unpacket_traits<DefaultPacketType>::alignment),Derived>(m);
      |                                                                          ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:372:102:   required from ‘struct Eigen::internal::plain_object_eval<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Dense>’
  372 |   typedef typename plain_matrix_type_dense<T,typename traits<T>::XprKind, evaluator<T>::Flags>::type type;
      |                                                                                                      ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:526:76:   required from ‘struct Eigen::internal::product_evaluator<Eigen::Product<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 1>, 3, Eigen::DenseShape, Eigen::DenseShape, double, double>’
  526 |   typedef typename internal::nested_eval<Lhs,Rhs::ColsAtCompileTime>::type LhsNested;
      |                                                                            ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:29:8:   required from ‘struct Eigen::internal::evaluator<Eigen::Product<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 1> >’
   29 | struct evaluator<Product<Lhs, Rhs, Options> >
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:774:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> >; SrcXprType = Eigen::Product<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 1>; Functor = assign_op<double, double>]’
  774 |   SrcEvaluatorType srcEvaluator(src);
      |                    ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> >; SrcXprType = Eigen::Product<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 1>; Functor = Eigen::internal::assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:372:102:   required from ‘struct Eigen::internal::plain_object_eval<Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, Eigen::Dense>’
  372 |   typedef typename plain_matrix_type_dense<T,typename traits<T>::XprKind, evaluator<T>::Flags>::type type;
      |                                                                                                      ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:527:76:   required from ‘struct Eigen::internal::product_evaluator<Eigen::Product<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 1>, 3, Eigen::DenseShape, Eigen::DenseShape, double, double>’
  527 |   typedef typename internal::nested_eval<Rhs,Lhs::RowsAtCompileTime>::type RhsNested;
      |                                                                            ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:29:8:   required from ‘struct Eigen::internal::evaluator<Eigen::Product<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 1> >’
   29 | struct evaluator<Product<Lhs, Rhs, Options> >
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:774:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> >; SrcXprType = Eigen::Product<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 1>; Functor = assign_op<double, double>]’
  774 |   SrcEvaluatorType srcEvaluator(src);
      |                    ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> >; SrcXprType = Eigen::Product<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 1>; Functor = Eigen::internal::assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h: In instantiation of ‘struct Eigen::internal::find_best_packet<double, 1>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:544:69:   required from ‘struct Eigen::internal::product_evaluator<Eigen::Product<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 1>, 3, Eigen::DenseShape, Eigen::DenseShape, double, double>’
  544 |   typedef typename find_best_packet<Scalar,ColsAtCompileTime>::type RhsVecPacketType;
      |                                                                     ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:29:8:   required from ‘struct Eigen::internal::evaluator<Eigen::Product<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 1> >’
   29 | struct evaluator<Product<Lhs, Rhs, Options> >
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:774:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> >; SrcXprType = Eigen::Product<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 1>; Functor = assign_op<double, double>]’
  774 |   SrcEvaluatorType srcEvaluator(src);
      |                    ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> >; SrcXprType = Eigen::Product<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 1>; Functor = Eigen::internal::assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   required from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> >; Src = Eigen::Product<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, 1>; Func = assign_op<double, double>]’
  890 |   Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:402:29:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:44: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                                       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:208:88: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  208 |   typedef typename find_best_packet_helper<Size,typename packet_traits<T>::type>::type type;
      |                                                                                        ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true>, -1, 1, false> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:780:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true>, -1, 1, false>; SrcXprType = Eigen::CwiseNullaryOp<scalar_constant_op<double>, Eigen::Matrix<double, -1, 1, 0, 3, 1> >; Functor = assign_op<double, double>]’
  780 |   DstEvaluatorType dstEvaluator(dst);
      |                    ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true>, -1, 1, false>; SrcXprType = Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, 1, 0, 3, 1> >; Functor = Eigen::internal::assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   required from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true>, -1, 1, false>; Src = Eigen::CwiseNullaryOp<scalar_constant_op<double>, Eigen::Matrix<double, -1, 1, 0, 3, 1> >; Func = assign_op<double, double>]’
  890 |   Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:858:27:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true>, -1, 1, false>; Src = Eigen::CwiseNullaryOp<scalar_constant_op<double>, Eigen::Matrix<double, -1, 1, 0, 3, 1> >; Func = assign_op<double, double>; typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type = void*; typename evaluator_traits<SrcXprType>::Shape = Eigen::DenseShape]’
  858 |   call_assignment_no_alias(dst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:836:18:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&) [with Dst = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, 3, 1, true>, -1, 1, false>; Src = Eigen::CwiseNullaryOp<scalar_constant_op<double>, Eigen::Matrix<double, -1, 1, 0, 3, 1> >]’
  836 |   call_assignment(dst, src, internal::assign_op<typename Dst::Scalar,typename Src::Scalar>());
      |   ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Assign.h:66:28:   [ skipping 4 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 1, -1> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 1, -1> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 1, -1> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 1, -1> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:347:30:   required from ‘Derived& Eigen::DenseBase<Derived>::setConstant(const Scalar&) [with Derived = Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false>; Scalar = double]’
  347 |   return derived() = Constant(rows(), cols(), val);
      |                      ~~~~~~~~^~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:548:10:   required from ‘Derived& Eigen::DenseBase<Derived>::setZero() [with Derived = Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false>]’
  548 |   return setConstant(Scalar(0));
      |          ^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:349:16:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
In file included from /usr/local/lib/R/library/RcppEigen/include/Eigen/Core:330:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h: In instantiation of ‘class Eigen::internal::gebp_traits<double, double, false, false, 1, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:92:29:   required from ‘struct Eigen::internal::product_triangular_matrix_matrix<double, long int, 5, true, 0, false, 0, false, 0, 1, 0>’
   92 |     SmallPanelWidth   = 2 * EIGEN_PLAIN_ENUM_MAX(Traits::mr,Traits::nr),
      |                                                          ^~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:443:12:   required from ‘static void Eigen::internal::triangular_product_impl<Mode, LhsIsTriangular, Lhs, false, Rhs, false>::run(Dest&, const Lhs&, const Rhs&, const typename Dest::Scalar&) [with Dest = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; int Mode = 5; bool LhsIsTriangular = true; Lhs = const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; typename Dest::Scalar = double]’
  438 |     internal::product_triangular_matrix_matrix<Scalar, Index,
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  439 |       Mode, LhsIsTriangular,
      |       ~~~~~~~~~~~~~~~~~~~~~~
  440 |       (internal::traits<ActualLhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, LhsBlasTraits::NeedToConjugate,
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  441 |       (internal::traits<ActualRhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, RhsBlasTraits::NeedToConjugate,
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  442 |       (internal::traits<Dest          >::Flags&RowMajorBit) ? RowMajor : ColMajor, Dest::InnerStrideAtCompileTime>
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  443 |       ::run(
      |       ~~~~~^
  444 |         stripedRows, stripedCols, stripedDepth,   // sizes
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  445 |         &lhs.coeffRef(0,0), lhs.outerStride(),    // lhs info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  446 |         &rhs.coeffRef(0,0), rhs.outerStride(),    // rhs info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  447 |         &dst.coeffRef(0,0), dst.innerStride(), dst.outerStride(),    // result info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  448 |         actualAlpha, blocking
      |         ~~~~~~~~~~~~~~~~~~~~~
  449 |       );
      |       ~     
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:770:14:   required from ‘static void Eigen::internal::generic_product_impl<Lhs, Rhs, Eigen::TriangularShape, Eigen::DenseShape, ProductTag>::scaleAndAddTo(Dest&, const Lhs&, const Rhs&, const Scalar&) [with Dest = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; Lhs = Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; int ProductTag = 3; Scalar = double]’
  769 |     triangular_product_impl<Lhs::Mode,true,typename Lhs::MatrixType,false,Rhs, Rhs::ColsAtCompileTime==1>
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  770 |         ::run(dst, lhs.nestedExpression(), rhs, alpha);
      |         ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:361:27:   required from ‘static void Eigen::internal::generic_product_impl_base<Lhs, Rhs, Derived>::scaleAndAddTo(Dst&, const Lhs&, const Rhs&, const Scalar&) [with Dst = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; Lhs = Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; Derived = Eigen::internal::generic_product_impl<Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, Eigen::TriangularShape, Eigen::DenseShape, 3>; Scalar = double]’
  361 |   { Derived::scaleAndAddTo(dst,lhs,rhs,alpha); }
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:357:18:   required from ‘static void Eigen::internal::generic_product_impl_base<Lhs, Rhs, Derived>::subTo(Dst&, const Lhs&, const Rhs&) [with Dst = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; Lhs = Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; Derived = Eigen::internal::generic_product_impl<Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, Eigen::TriangularShape, Eigen::DenseShape, 3>]’
  357 |   { scaleAndAddTo(dst, lhs, rhs, Scalar(-1)); }
      |     ~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:178:42:   [ skipping 5 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:425:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  425 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:425:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  425 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:425:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  425 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:425:27: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  425 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:426:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  426 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:426:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  426 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:426:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  426 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:426:27: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  426 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:427:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  427 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:427:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  427 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:427:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  427 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:427:27: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  427 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:49: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  432 |     Vectorizable = unpacket_traits<_LhsPacket>::vectorizable && unpacket_traits<_RhsPacket>::vectorizable,
      |                                                 ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:49: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:49: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:49: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:94: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  432 |     Vectorizable = unpacket_traits<_LhsPacket>::vectorizable && unpacket_traits<_RhsPacket>::vectorizable,
      |                                                                                              ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:94: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:94: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:94: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:433:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  433 |     LhsPacketSize = Vectorizable ? unpacket_traits<_LhsPacket>::size : 1,
      |                                                                 ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:433:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:433:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:433:65: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:434:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  434 |     RhsPacketSize = Vectorizable ? unpacket_traits<_RhsPacket>::size : 1,
      |                                                                 ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:434:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:434:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:434:65: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:435:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  435 |     ResPacketSize = Vectorizable ? unpacket_traits<_ResPacket>::size : 1,
      |                                                                 ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:435:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:435:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:435:65: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:460:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  460 |   typedef typename conditional<Vectorizable,_LhsPacket,LhsScalar>::type LhsPacket;
      |                                                                         ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:460:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:460:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:460:73: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:461:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  461 |   typedef typename conditional<Vectorizable,_RhsPacket,RhsScalar>::type RhsPacket;
      |                                                                         ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:461:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:461:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:461:73: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:462:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  462 |   typedef typename conditional<Vectorizable,_ResPacket,ResScalar>::type ResPacket;
      |                                                                         ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:462:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:462:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:462:73: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:465:33: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  465 |   typedef QuadPacket<RhsPacket> RhsPacketx4;
      |                                 ^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:465:33: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:465:33: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:465:33: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, const Eigen::Matrix<double, -1, -1, 0, 2, 3> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, const Eigen::Matrix<double, -1, -1, 0, 2, 3> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, const Eigen::Matrix<double, -1, -1, 0, 2, 3>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:457:59:   required from ‘static void Eigen::internal::triangular_product_impl<Mode, LhsIsTriangular, Lhs, false, Rhs, false>::run(Dest&, const Lhs&, const Rhs&, const typename Dest::Scalar&) [with Dest = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; int Mode = 5; bool LhsIsTriangular = true; Lhs = const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; typename Dest::Scalar = double]’
  457 |         dst.topRows(diagSize) -= ((lhs_alpha-LhsScalar(1))*a_rhs).topRows(diagSize);
      |                                  ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:770:14:   [ skipping 8 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, -1, -1, false>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, -1, -1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, -1, -1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:172:103:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, -1, -1, false, false>’
  172 | template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel, bool HasDirectAccess> class BlockImpl_dense
      |                                                                                                       ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   required from ‘class Eigen::BlockImpl<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, -1, -1, false, Eigen::Dense>’
  154 | class BlockImpl<XprType, BlockRows, BlockCols, InnerPanel, Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:103:81:   required from ‘class Eigen::Block<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, -1, -1, false>’
  103 | template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel> class Block
      |                                                                                 ^~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:457:74:   [ skipping 9 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, true>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, true>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, true>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, true> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, true> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, true>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 13 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 11 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 2> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 2> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 2> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 2> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:38:28:   required from ‘struct Eigen::internal::traits<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 2> >, const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true> > >’
   38 |                    >::type Scalar;
      |                            ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 2> >, const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   [ skipping 10 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 2> >, const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 2> >, const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 2> >, const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 2> >, const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 2> >, const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true> >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:462:59:   required from ‘static void Eigen::internal::triangular_product_impl<Mode, LhsIsTriangular, Lhs, false, Rhs, false>::run(Dest&, const Lhs&, const Rhs&, const typename Dest::Scalar&) [with Dest = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; int Mode = 5; bool LhsIsTriangular = true; Lhs = const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; typename Dest::Scalar = double]’
  462 |         dst.leftCols(diagSize) -= (rhs_alpha-RhsScalar(1))*a_lhs.leftCols(diagSize);
      |                                   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:770:14:   [ skipping 8 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:780:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>; SrcXprType = Eigen::CwiseBinaryOp<scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> > >; Functor = assign_op<double, double>]’
  780 |   DstEvaluatorType dstEvaluator(dst);
      |                    ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>; SrcXprType = Eigen::CwiseBinaryOp<Eigen::internal::scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> > >; Functor = Eigen::internal::assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   required from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Block<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>; Src = Eigen::CwiseBinaryOp<scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> > >; Func = assign_op<double, double>]’
  890 |   Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:858:27:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Block<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>; Src = Eigen::CwiseBinaryOp<scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> > >; Func = assign_op<double, double>; typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type = void*; typename evaluator_traits<SrcXprType>::Shape = Eigen::DenseShape]’
  858 |   call_assignment_no_alias(dst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:836:18:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&) [with Dst = Eigen::Block<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>; Src = Eigen::CwiseBinaryOp<scalar_quotient_op<double, double>, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false>, -1, 1, false>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> > >]’
  836 |   call_assignment(dst, src, internal::assign_op<typename Dst::Scalar,typename Src::Scalar>());
      |   ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Assign.h:66:28:   [ skipping 5 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:372:102:   required from ‘struct Eigen::internal::plain_object_eval<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, Eigen::Dense>’
  372 |   typedef typename plain_matrix_type_dense<T,typename traits<T>::XprKind, evaluator<T>::Flags>::type type;
      |                                                                                                      ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:527:76:   required from ‘struct Eigen::internal::product_evaluator<Eigen::Product<Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 1>, 3, Eigen::DenseShape, Eigen::DenseShape, double, double>’
  527 |   typedef typename internal::nested_eval<Rhs,Lhs::RowsAtCompileTime>::type RhsNested;
      |                                                                            ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:29:8:   required from ‘struct Eigen::internal::evaluator<Eigen::Product<Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 1> >’
   29 | struct evaluator<Product<Lhs, Rhs, Options> >
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:774:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >; SrcXprType = Eigen::Product<Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 1>; Functor = assign_op<double, double>]’
  774 |   SrcEvaluatorType srcEvaluator(src);
      |                    ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >; SrcXprType = Eigen::Product<Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 1>; Functor = Eigen::internal::assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   [ skipping 8 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Transpose.h:118:37:   required from ‘class Eigen::TransposeImpl<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false>, Eigen::Dense>’
  118 | template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
      |                                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Transpose.h:52:37:   [ skipping 11 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false> >, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Transpose.h:118:37:   required from ‘class Eigen::TransposeImpl<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, Eigen::Dense>’
  118 | template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
      |                                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Transpose.h:52:37:   required from ‘class Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false> >’
   52 | template<typename MatrixType> class Transpose
      |                                     ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:194:32:   [ skipping 10 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Transpose.h:118:37:   required from ‘class Eigen::TransposeImpl<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >, Eigen::Dense>’
  118 | template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
      |                                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Transpose.h:52:37:   required from ‘class Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >’
   52 | template<typename MatrixType> class Transpose
      |                                     ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:194:48:   required from ‘static void Eigen::internal::triangular_product_impl<Mode, false, Lhs, true, Rhs, false>::run(Dest&, const Lhs&, const Rhs&, const typename Dest::Scalar&) [with Dest = Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false>; int Mode = 5; Lhs = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >; Rhs = const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>; typename Dest::Scalar = double]’
  194 |             ::run(rhs.transpose(),lhs.transpose(), dstT, alpha);
      |                                   ~~~~~~~~~~~~~^~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:783:113:   [ skipping 9 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, 2, 3> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, 2, 3> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, 2, 3> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, 2, 3> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:347:30:   required from ‘Derived& Eigen::DenseBase<Derived>::setConstant(const Scalar&) [with Derived = Eigen::Matrix<double, -1, -1, 0, 2, 3>; Scalar = double]’
  347 |   return derived() = Constant(rows(), cols(), val);
      |                      ~~~~~~~~^~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:548:10:   required from ‘Derived& Eigen::DenseBase<Derived>::setZero() [with Derived = Eigen::Matrix<double, -1, -1, 0, 2, 3>]’
  548 |   return setConstant(Scalar(0));
      |          ^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:349:16:   [ skipping 8 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h: In instantiation of ‘struct Eigen::internal::find_best_packet<double, 64>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Matrix.h:22:57:   required from ‘struct Eigen::internal::traits<Eigen::Matrix<double, 8, 8, 0, 8, 8> >’
   22 |   typedef typename find_best_packet<_Scalar,size>::type PacketScalar;
      |                                                         ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, 8, 8, 0, 8, 8> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   required from ‘class Eigen::Matrix<double, 8, 8, 0, 8, 8>’
  178 | class Matrix
      |       ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:150:68:   required from ‘static void Eigen::internal::product_triangular_matrix_matrix<Scalar, Index, Mode, true, LhsStorageOrder, ConjugateLhs, RhsStorageOrder, ConjugateRhs, 0, ResInnerStride, Version>::run(Index, Index, Index, const Scalar*, Index, const Scalar*, Index, Scalar*, Index, Index, const Scalar&, Eigen::internal::level3_blocking<Scalar, Scalar>&) [with Scalar = double; Index = long int; int Mode = 5; int LhsStorageOrder = 0; bool ConjugateLhs = false; int RhsStorageOrder = 0; bool ConjugateRhs = false; int ResInnerStride = 1; int Version = 0]’
  150 |     Matrix<Scalar,SmallPanelWidth,SmallPanelWidth,LhsStorageOrder> triangularBuffer(a);
      |                                                                    ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:443:12:   required from ‘static void Eigen::internal::triangular_product_impl<Mode, LhsIsTriangular, Lhs, false, Rhs, false>::run(Dest&, const Lhs&, const Rhs&, const typename Dest::Scalar&) [with Dest = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; int Mode = 5; bool LhsIsTriangular = true; Lhs = const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; typename Dest::Scalar = double]’
  438 |     internal::product_triangular_matrix_matrix<Scalar, Index,
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  439 |       Mode, LhsIsTriangular,
      |       ~~~~~~~~~~~~~~~~~~~~~~
  440 |       (internal::traits<ActualLhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, LhsBlasTraits::NeedToConjugate,
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  441 |       (internal::traits<ActualRhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, RhsBlasTraits::NeedToConjugate,
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  442 |       (internal::traits<Dest          >::Flags&RowMajorBit) ? RowMajor : ColMajor, Dest::InnerStrideAtCompileTime>
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  443 |       ::run(
      |       ~~~~~^
  444 |         stripedRows, stripedCols, stripedDepth,   // sizes
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  445 |         &lhs.coeffRef(0,0), lhs.outerStride(),    // lhs info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  446 |         &rhs.coeffRef(0,0), rhs.outerStride(),    // rhs info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  447 |         &dst.coeffRef(0,0), dst.innerStride(), dst.outerStride(),    // result info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  448 |         actualAlpha, blocking
      |         ~~~~~~~~~~~~~~~~~~~~~
  449 |       );
      |       ~     
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:770:14:   [ skipping 8 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:44: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                                       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:208:88: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  208 |   typedef typename find_best_packet_helper<Size,typename packet_traits<T>::type>::type type;
      |                                                                                        ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 8, 8, 0, 8, 8>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 8, 8, 0, 8, 8>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 8, 8, 0, 8, 8>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, 8, 8, 0, 8, 8> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, 8, 8, 0, 8, 8> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, 8, 8, 0, 8, 8> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   [ skipping 11 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Diagonal<Eigen::Matrix<double, 8, 8, 0, 8, 8>, 0>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Diagonal<Eigen::Matrix<double, 8, 8, 0, 8, 8>, 0>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Diagonal<Eigen::Matrix<double, 8, 8, 0, 8, 8>, 0>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Diagonal<Eigen::Matrix<double, 8, 8, 0, 8, 8>, 0> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Diagonal<Eigen::Matrix<double, 8, 8, 0, 8, 8>, 0> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Diagonal.h:63:53:   required from ‘class Eigen::Diagonal<Eigen::Matrix<double, 8, 8, 0, 8, 8>, 0>’
   63 | template<typename MatrixType, int _DiagIndex> class Diagonal
      |                                                     ^~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:153:32:   [ skipping 10 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h: In instantiation of ‘struct Eigen::internal::find_best_packet<double, 8>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:179:81:   required from ‘class Eigen::DenseBase<Eigen::Diagonal<Eigen::Matrix<double, 8, 8, 0, 8, 8>, 0> >’
  179 |     typedef typename internal::find_best_packet<Scalar,SizeAtCompileTime>::type PacketScalar;
      |                                                                                 ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Diagonal<Eigen::Matrix<double, 8, 8, 0, 8, 8>, 0> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Diagonal.h:63:53:   required from ‘class Eigen::Diagonal<Eigen::Matrix<double, 8, 8, 0, 8, 8>, 0>’
   63 | template<typename MatrixType, int _DiagIndex> class Diagonal
      |                                                     ^~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:153:32:   required from ‘static void Eigen::internal::product_triangular_matrix_matrix<Scalar, Index, Mode, true, LhsStorageOrder, ConjugateLhs, RhsStorageOrder, ConjugateRhs, 0, ResInnerStride, Version>::run(Index, Index, Index, const Scalar*, Index, const Scalar*, Index, Scalar*, Index, Index, const Scalar&, Eigen::internal::level3_blocking<Scalar, Scalar>&) [with Scalar = double; Index = long int; int Mode = 5; int LhsStorageOrder = 0; bool ConjugateLhs = false; int RhsStorageOrder = 0; bool ConjugateRhs = false; int ResInnerStride = 1; int Version = 0]’
  153 |       triangularBuffer.diagonal().setZero();
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~^~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:443:12:   required from ‘static void Eigen::internal::triangular_product_impl<Mode, LhsIsTriangular, Lhs, false, Rhs, false>::run(Dest&, const Lhs&, const Rhs&, const typename Dest::Scalar&) [with Dest = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; int Mode = 5; bool LhsIsTriangular = true; Lhs = const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; typename Dest::Scalar = double]’
  438 |     internal::product_triangular_matrix_matrix<Scalar, Index,
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  439 |       Mode, LhsIsTriangular,
      |       ~~~~~~~~~~~~~~~~~~~~~~
  440 |       (internal::traits<ActualLhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, LhsBlasTraits::NeedToConjugate,
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  441 |       (internal::traits<ActualRhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, RhsBlasTraits::NeedToConjugate,
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  442 |       (internal::traits<Dest          >::Flags&RowMajorBit) ? RowMajor : ColMajor, Dest::InnerStrideAtCompileTime>
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  443 |       ::run(
      |       ~~~~~^
  444 |         stripedRows, stripedCols, stripedDepth,   // sizes
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  445 |         &lhs.coeffRef(0,0), lhs.outerStride(),    // lhs info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  446 |         &rhs.coeffRef(0,0), rhs.outerStride(),    // rhs info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  447 |         &dst.coeffRef(0,0), dst.innerStride(), dst.outerStride(),    // result info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  448 |         actualAlpha, blocking
      |         ~~~~~~~~~~~~~~~~~~~~~
  449 |       );
      |       ~     
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:770:14:   [ skipping 8 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:44: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                                       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  190 |          bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
      |                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:190:83: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/XprHelper.h:208:88: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  208 |   typedef typename find_best_packet_helper<Size,typename packet_traits<T>::type>::type type;
      |                                                                                        ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h: In instantiation of ‘class Eigen::internal::gebp_traits<double, double, false, false, 1, 1>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:1080:42:   required from ‘struct Eigen::internal::gebp_kernel<double, double, long int, Eigen::internal::blas_data_mapper<double, long int, 0, 0, 1>, 4, 4, false, false>’
 1080 |   typedef typename HalfTraits::LhsPacket LhsPacketHalf;
      |                                          ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:157:103:   required from ‘static void Eigen::internal::product_triangular_matrix_matrix<Scalar, Index, Mode, true, LhsStorageOrder, ConjugateLhs, RhsStorageOrder, ConjugateRhs, 0, ResInnerStride, Version>::run(Index, Index, Index, const Scalar*, Index, const Scalar*, Index, Scalar*, Index, Index, const Scalar&, Eigen::internal::level3_blocking<Scalar, Scalar>&) [with Scalar = double; Index = long int; int Mode = 5; int LhsStorageOrder = 0; bool ConjugateLhs = false; int RhsStorageOrder = 0; bool ConjugateRhs = false; int ResInnerStride = 1; int Version = 0]’
  157 |     gebp_kernel<Scalar, Scalar, Index, ResMapper, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp_kernel;
      |                                                                                                       ^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:443:12:   required from ‘static void Eigen::internal::triangular_product_impl<Mode, LhsIsTriangular, Lhs, false, Rhs, false>::run(Dest&, const Lhs&, const Rhs&, const typename Dest::Scalar&) [with Dest = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; int Mode = 5; bool LhsIsTriangular = true; Lhs = const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; typename Dest::Scalar = double]’
  438 |     internal::product_triangular_matrix_matrix<Scalar, Index,
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  439 |       Mode, LhsIsTriangular,
      |       ~~~~~~~~~~~~~~~~~~~~~~
  440 |       (internal::traits<ActualLhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, LhsBlasTraits::NeedToConjugate,
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  441 |       (internal::traits<ActualRhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, RhsBlasTraits::NeedToConjugate,
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  442 |       (internal::traits<Dest          >::Flags&RowMajorBit) ? RowMajor : ColMajor, Dest::InnerStrideAtCompileTime>
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  443 |       ::run(
      |       ~~~~~^
  444 |         stripedRows, stripedCols, stripedDepth,   // sizes
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  445 |         &lhs.coeffRef(0,0), lhs.outerStride(),    // lhs info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  446 |         &rhs.coeffRef(0,0), rhs.outerStride(),    // rhs info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  447 |         &dst.coeffRef(0,0), dst.innerStride(), dst.outerStride(),    // result info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  448 |         actualAlpha, blocking
      |         ~~~~~~~~~~~~~~~~~~~~~
  449 |       );
      |       ~     
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:770:14:   required from ‘static void Eigen::internal::generic_product_impl<Lhs, Rhs, Eigen::TriangularShape, Eigen::DenseShape, ProductTag>::scaleAndAddTo(Dest&, const Lhs&, const Rhs&, const Scalar&) [with Dest = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; Lhs = Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; int ProductTag = 3; Scalar = double]’
  769 |     triangular_product_impl<Lhs::Mode,true,typename Lhs::MatrixType,false,Rhs, Rhs::ColsAtCompileTime==1>
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  770 |         ::run(dst, lhs.nestedExpression(), rhs, alpha);
      |         ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:361:27:   required from ‘static void Eigen::internal::generic_product_impl_base<Lhs, Rhs, Derived>::scaleAndAddTo(Dst&, const Lhs&, const Rhs&, const Scalar&) [with Dst = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; Lhs = Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; Derived = Eigen::internal::generic_product_impl<Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, Eigen::TriangularShape, Eigen::DenseShape, 3>; Scalar = double]’
  361 |   { Derived::scaleAndAddTo(dst,lhs,rhs,alpha); }
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:357:18:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:425:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  425 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:425:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  425 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:425:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  425 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:425:27: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  425 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:426:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  426 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:426:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  426 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:426:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  426 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:426:27: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  426 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:427:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  427 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:427:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  427 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:427:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  427 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:427:27: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  427 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:49: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  432 |     Vectorizable = unpacket_traits<_LhsPacket>::vectorizable && unpacket_traits<_RhsPacket>::vectorizable,
      |                                                 ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:49: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:49: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:49: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:94: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  432 |     Vectorizable = unpacket_traits<_LhsPacket>::vectorizable && unpacket_traits<_RhsPacket>::vectorizable,
      |                                                                                              ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:94: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:94: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:94: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:433:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  433 |     LhsPacketSize = Vectorizable ? unpacket_traits<_LhsPacket>::size : 1,
      |                                                                 ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:433:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:433:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:433:65: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:434:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  434 |     RhsPacketSize = Vectorizable ? unpacket_traits<_RhsPacket>::size : 1,
      |                                                                 ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:434:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:434:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:434:65: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:435:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  435 |     ResPacketSize = Vectorizable ? unpacket_traits<_ResPacket>::size : 1,
      |                                                                 ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:435:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:435:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:435:65: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:460:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  460 |   typedef typename conditional<Vectorizable,_LhsPacket,LhsScalar>::type LhsPacket;
      |                                                                         ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:460:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:460:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:460:73: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:461:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  461 |   typedef typename conditional<Vectorizable,_RhsPacket,RhsScalar>::type RhsPacket;
      |                                                                         ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:461:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:461:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:461:73: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:462:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  462 |   typedef typename conditional<Vectorizable,_ResPacket,ResScalar>::type ResPacket;
      |                                                                         ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:462:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:462:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:462:73: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:465:33: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  465 |   typedef QuadPacket<RhsPacket> RhsPacketx4;
      |                                 ^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:465:33: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:465:33: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:465:33: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h: In instantiation of ‘class Eigen::internal::gebp_traits<double, double, false, false, 1, 2>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:1085:45:   required from ‘struct Eigen::internal::gebp_kernel<double, double, long int, Eigen::internal::blas_data_mapper<double, long int, 0, 0, 1>, 4, 4, false, false>’
 1085 |   typedef typename QuarterTraits::LhsPacket LhsPacketQuarter;
      |                                             ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:157:103:   required from ‘static void Eigen::internal::product_triangular_matrix_matrix<Scalar, Index, Mode, true, LhsStorageOrder, ConjugateLhs, RhsStorageOrder, ConjugateRhs, 0, ResInnerStride, Version>::run(Index, Index, Index, const Scalar*, Index, const Scalar*, Index, Scalar*, Index, Index, const Scalar&, Eigen::internal::level3_blocking<Scalar, Scalar>&) [with Scalar = double; Index = long int; int Mode = 5; int LhsStorageOrder = 0; bool ConjugateLhs = false; int RhsStorageOrder = 0; bool ConjugateRhs = false; int ResInnerStride = 1; int Version = 0]’
  157 |     gebp_kernel<Scalar, Scalar, Index, ResMapper, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp_kernel;
      |                                                                                                       ^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:443:12:   required from ‘static void Eigen::internal::triangular_product_impl<Mode, LhsIsTriangular, Lhs, false, Rhs, false>::run(Dest&, const Lhs&, const Rhs&, const typename Dest::Scalar&) [with Dest = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; int Mode = 5; bool LhsIsTriangular = true; Lhs = const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; typename Dest::Scalar = double]’
  438 |     internal::product_triangular_matrix_matrix<Scalar, Index,
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  439 |       Mode, LhsIsTriangular,
      |       ~~~~~~~~~~~~~~~~~~~~~~
  440 |       (internal::traits<ActualLhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, LhsBlasTraits::NeedToConjugate,
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  441 |       (internal::traits<ActualRhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, RhsBlasTraits::NeedToConjugate,
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  442 |       (internal::traits<Dest          >::Flags&RowMajorBit) ? RowMajor : ColMajor, Dest::InnerStrideAtCompileTime>
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  443 |       ::run(
      |       ~~~~~^
  444 |         stripedRows, stripedCols, stripedDepth,   // sizes
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  445 |         &lhs.coeffRef(0,0), lhs.outerStride(),    // lhs info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  446 |         &rhs.coeffRef(0,0), rhs.outerStride(),    // rhs info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  447 |         &dst.coeffRef(0,0), dst.innerStride(), dst.outerStride(),    // result info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  448 |         actualAlpha, blocking
      |         ~~~~~~~~~~~~~~~~~~~~~
  449 |       );
      |       ~     
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:770:14:   required from ‘static void Eigen::internal::generic_product_impl<Lhs, Rhs, Eigen::TriangularShape, Eigen::DenseShape, ProductTag>::scaleAndAddTo(Dest&, const Lhs&, const Rhs&, const Scalar&) [with Dest = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; Lhs = Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; int ProductTag = 3; Scalar = double]’
  769 |     triangular_product_impl<Lhs::Mode,true,typename Lhs::MatrixType,false,Rhs, Rhs::ColsAtCompileTime==1>
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  770 |         ::run(dst, lhs.nestedExpression(), rhs, alpha);
      |         ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:361:27:   required from ‘static void Eigen::internal::generic_product_impl_base<Lhs, Rhs, Derived>::scaleAndAddTo(Dst&, const Lhs&, const Rhs&, const Scalar&) [with Dst = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; Lhs = Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; Derived = Eigen::internal::generic_product_impl<Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, Eigen::TriangularShape, Eigen::DenseShape, 3>; Scalar = double]’
  361 |   { Derived::scaleAndAddTo(dst,lhs,rhs,alpha); }
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:357:18:   [ skipping 6 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:425:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  425 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:425:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  425 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:425:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  425 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:425:27: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  425 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:426:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  426 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:426:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  426 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:426:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  426 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:426:27: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  426 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:427:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  427 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:427:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  427 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:427:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  427 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:427:27: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  427 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:384:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
  384 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:49: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  432 |     Vectorizable = unpacket_traits<_LhsPacket>::vectorizable && unpacket_traits<_RhsPacket>::vectorizable,
      |                                                 ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:49: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:49: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:49: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:94: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  432 |     Vectorizable = unpacket_traits<_LhsPacket>::vectorizable && unpacket_traits<_RhsPacket>::vectorizable,
      |                                                                                              ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:94: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:94: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:432:94: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:433:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  433 |     LhsPacketSize = Vectorizable ? unpacket_traits<_LhsPacket>::size : 1,
      |                                                                 ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:433:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:433:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:433:65: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:434:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  434 |     RhsPacketSize = Vectorizable ? unpacket_traits<_RhsPacket>::size : 1,
      |                                                                 ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:434:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:434:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:434:65: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:435:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  435 |     ResPacketSize = Vectorizable ? unpacket_traits<_ResPacket>::size : 1,
      |                                                                 ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:435:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:435:65: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:435:65: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:460:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  460 |   typedef typename conditional<Vectorizable,_LhsPacket,LhsScalar>::type LhsPacket;
      |                                                                         ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:460:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:460:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:460:73: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:461:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  461 |   typedef typename conditional<Vectorizable,_RhsPacket,RhsScalar>::type RhsPacket;
      |                                                                         ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:461:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:461:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:461:73: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:462:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  462 |   typedef typename conditional<Vectorizable,_ResPacket,ResScalar>::type ResPacket;
      |                                                                         ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:462:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:462:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:462:73: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:465:33: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
  465 |   typedef QuadPacket<RhsPacket> RhsPacketx4;
      |                                 ^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:465:33: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:465:33: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:465:33: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 2, 2> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 2, 2> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 2, 2> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 2, 2> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:347:30:   required from ‘Derived& Eigen::DenseBase<Derived>::setConstant(const Scalar&) [with Derived = Eigen::Matrix<double, 2, 2>; Scalar = double]’
  347 |   return derived() = Constant(rows(), cols(), val);
      |                      ~~~~~~~~^~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:548:10:   required from ‘Derived& Eigen::DenseBase<Derived>::setZero() [with Derived = Eigen::Matrix<double, 2, 2>]’
  548 |   return setConstant(Scalar(0));
      |          ^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/PermutationMatrix.h:103:20:   [ skipping 8 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:238:40:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  238 |       if(svd.computeU()) svd.m_matrixU = m_qr.colsPermutation();
      |                          ~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Transpose<const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Transpose<const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Transpose.h:118:37:   required from ‘class Eigen::TransposeImpl<const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> >, Eigen::Dense>’
  118 | template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
      |                                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Transpose.h:52:37:   required from ‘class Eigen::Transpose<const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >’
   52 | template<typename MatrixType> class Transpose
      |                                     ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/util/BlasUtil.h:506:13:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >, -1, 1, false>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >, -1, 1, false>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >, -1, 1, false>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >, -1, 1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >, -1, 1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >, -1, 1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 16 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, -1, 1, false>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, -1, 1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, -1, 1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:172:103:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, -1, 1, false, false>’
  172 | template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel, bool HasDirectAccess> class BlockImpl_dense
      |                                                                                                       ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   required from ‘class Eigen::BlockImpl<const Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, -1, 1, false, Eigen::Dense>’
  154 | class BlockImpl<XprType, BlockRows, BlockCols, InnerPanel, Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:103:81:   required from ‘class Eigen::Block<const Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, -1, 1, false>’
  103 | template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel> class Block
      |                                                                                 ^~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/VectorBlock.h:56:47:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, -1, 1, false> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, -1, 1, false> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, -1, 1, false> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, -1, 1, false>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, -1, 1, false> >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:341:54:   required from ‘static void Eigen::internal::trmv_selector<Mode, 1>::run(const Lhs&, const Rhs&, Dest&, const typename Dest::Scalar&) [with Lhs = Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false> >; Rhs = Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >; Dest = Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >; int Mode = 6; typename Dest::Scalar = double]’
  341 |       dest.head(diagSize) -= (lhs_alpha-LhsScalar(1))*rhs.head(diagSize);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:194:18:   [ skipping 10 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, false>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, false>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, false>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:38:28:   required from ‘struct Eigen::internal::traits<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> > >’
   38 |                    >::type Scalar;
      |                            ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:457:59:   required from ‘static void Eigen::internal::triangular_product_impl<Mode, LhsIsTriangular, Lhs, false, Rhs, false>::run(Dest&, const Lhs&, const Rhs&, const typename Dest::Scalar&) [with Dest = Eigen::Matrix<double, -1, -1, 0, 2, 3>; int Mode = 6; bool LhsIsTriangular = true; Lhs = const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >; Rhs = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; typename Dest::Scalar = double]’
  457 |         dst.topRows(diagSize) -= ((lhs_alpha-LhsScalar(1))*a_rhs).topRows(diagSize);
      |                                  ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:770:14:   [ skipping 10 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >, -1, -1, false>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >, -1, -1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >, -1, -1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:172:103:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >, -1, -1, false, false>’
  172 | template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel, bool HasDirectAccess> class BlockImpl_dense
      |                                                                                                       ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   required from ‘class Eigen::BlockImpl<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >, -1, -1, false, Eigen::Dense>’
  154 | class BlockImpl<XprType, BlockRows, BlockCols, InnerPanel, Dense>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:103:81:   required from ‘class Eigen::Block<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >, -1, -1, false>’
  103 | template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel> class Block
      |                                                                                 ^~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:457:74:   [ skipping 11 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, true>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, true>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, true>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, true> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, true> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, true>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 13 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, 2, 3> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, 2, 3> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, 2, 3> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, 2, 3> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:38:28:   required from ‘struct Eigen::internal::traits<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, 2, 3> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false> > >’
   38 |                    >::type Scalar;
      |                            ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, 2, 3> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, 2, 3> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, 2, 3> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, 2, 3> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, 2, 3> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, 2, 3> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false> >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:462:59:   required from ‘static void Eigen::internal::triangular_product_impl<Mode, LhsIsTriangular, Lhs, false, Rhs, false>::run(Dest&, const Lhs&, const Rhs&, const typename Dest::Scalar&) [with Dest = Eigen::Matrix<double, -1, -1, 0, 2, 3>; int Mode = 6; bool LhsIsTriangular = true; Lhs = const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >; Rhs = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; typename Dest::Scalar = double]’
  462 |         dst.leftCols(diagSize) -= (rhs_alpha-RhsScalar(1))*a_lhs.leftCols(diagSize);
      |                                   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:770:14:   [ skipping 10 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 1, 2, 3>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 1, 2, 3>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1, 1, 2, 3>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, -1, -1, 1, 2, 3> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, -1, -1, 1, 2, 3> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1, 1, 2, 3> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h: In instantiation of ‘void Eigen::internal::gemm_pack_rhs<Scalar, Index, DataMapper, nr, 0, Conjugate, PanelMode>::operator()(Scalar*, const DataMapper&, Index, Index, Index, Index) [with Scalar = double; Index = long int; DataMapper = Eigen::internal::const_blas_data_mapper<double, long int, 0>; int nr = 4; bool Conjugate = false; bool PanelMode = false]’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:175:15:   required from ‘static void Eigen::internal::product_triangular_matrix_matrix<Scalar, Index, Mode, true, LhsStorageOrder, ConjugateLhs, RhsStorageOrder, ConjugateRhs, 0, ResInnerStride, Version>::run(Index, Index, Index, const Scalar*, Index, const Scalar*, Index, Scalar*, Index, Index, const Scalar&, Eigen::internal::level3_blocking<Scalar, Scalar>&) [with Scalar = double; Index = long int; int Mode = 5; int LhsStorageOrder = 0; bool ConjugateLhs = false; int RhsStorageOrder = 0; bool ConjugateRhs = false; int ResInnerStride = 1; int Version = 0]’
  175 |       pack_rhs(blockB, rhs.getSubMapper(actual_k2,0), actual_kc, cols);
      |       ~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:443:12:   required from ‘static void Eigen::internal::triangular_product_impl<Mode, LhsIsTriangular, Lhs, false, Rhs, false>::run(Dest&, const Lhs&, const Rhs&, const typename Dest::Scalar&) [with Dest = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; int Mode = 5; bool LhsIsTriangular = true; Lhs = const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; typename Dest::Scalar = double]’
  438 |     internal::product_triangular_matrix_matrix<Scalar, Index,
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  439 |       Mode, LhsIsTriangular,
      |       ~~~~~~~~~~~~~~~~~~~~~~
  440 |       (internal::traits<ActualLhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, LhsBlasTraits::NeedToConjugate,
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  441 |       (internal::traits<ActualRhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, RhsBlasTraits::NeedToConjugate,
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  442 |       (internal::traits<Dest          >::Flags&RowMajorBit) ? RowMajor : ColMajor, Dest::InnerStrideAtCompileTime>
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  443 |       ::run(
      |       ~~~~~^
  444 |         stripedRows, stripedCols, stripedDepth,   // sizes
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  445 |         &lhs.coeffRef(0,0), lhs.outerStride(),    // lhs info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  446 |         &rhs.coeffRef(0,0), rhs.outerStride(),    // rhs info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  447 |         &dst.coeffRef(0,0), dst.innerStride(), dst.outerStride(),    // result info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  448 |         actualAlpha, blocking
      |         ~~~~~~~~~~~~~~~~~~~~~
  449 |       );
      |       ~     
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:770:14:   required from ‘static void Eigen::internal::generic_product_impl<Lhs, Rhs, Eigen::TriangularShape, Eigen::DenseShape, ProductTag>::scaleAndAddTo(Dest&, const Lhs&, const Rhs&, const Scalar&) [with Dest = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; Lhs = Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; int ProductTag = 3; Scalar = double]’
  769 |     triangular_product_impl<Lhs::Mode,true,typename Lhs::MatrixType,false,Rhs, Rhs::ColsAtCompileTime==1>
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  770 |         ::run(dst, lhs.nestedExpression(), rhs, alpha);
      |         ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:361:27:   required from ‘static void Eigen::internal::generic_product_impl_base<Lhs, Rhs, Derived>::scaleAndAddTo(Dst&, const Lhs&, const Rhs&, const Scalar&) [with Dst = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; Lhs = Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; Derived = Eigen::internal::generic_product_impl<Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, Eigen::TriangularShape, Eigen::DenseShape, 3>; Scalar = double]’
  361 |   { Derived::scaleAndAddTo(dst,lhs,rhs,alpha); }
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:357:18:   required from ‘static void Eigen::internal::generic_product_impl_base<Lhs, Rhs, Derived>::subTo(Dst&, const Lhs&, const Rhs&) [with Dst = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; Lhs = Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; Derived = Eigen::internal::generic_product_impl<Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, Eigen::TriangularShape, Eigen::DenseShape, 3>]’
  357 |   { scaleAndAddTo(dst, lhs, rhs, Scalar(-1)); }
      |     ~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:178:42:   [ skipping 5 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:2459:62: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 2459 |           PacketBlock<Packet,(PacketSize%4)==0?4:PacketSize> kernel;
      |                                                              ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h: In instantiation of ‘void Eigen::internal::gemm_pack_lhs<Scalar, Index, DataMapper, Pack1, Pack2, Packet, 0, Conjugate, PanelMode>::operator()(Scalar*, const DataMapper&, Index, Index, Index, Index) [with Scalar = double; Index = long int; DataMapper = Eigen::internal::const_blas_data_mapper<double, long int, 0>; int Pack1 = 4; int Pack2 = 2; Packet = __vector(2) double; bool Conjugate = false; bool PanelMode = false]’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:203:19:   required from ‘static void Eigen::internal::product_triangular_matrix_matrix<Scalar, Index, Mode, true, LhsStorageOrder, ConjugateLhs, RhsStorageOrder, ConjugateRhs, 0, ResInnerStride, Version>::run(Index, Index, Index, const Scalar*, Index, const Scalar*, Index, Scalar*, Index, Index, const Scalar&, Eigen::internal::level3_blocking<Scalar, Scalar>&) [with Scalar = double; Index = long int; int Mode = 5; int LhsStorageOrder = 0; bool ConjugateLhs = false; int RhsStorageOrder = 0; bool ConjugateRhs = false; int ResInnerStride = 1; int Version = 0]’
  203 |           pack_lhs(blockA, LhsMapper(triangularBuffer.data(), triangularBuffer.outerStride()), actualPanelWidth, actualPanelWidth);
      |           ~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:443:12:   required from ‘static void Eigen::internal::triangular_product_impl<Mode, LhsIsTriangular, Lhs, false, Rhs, false>::run(Dest&, const Lhs&, const Rhs&, const typename Dest::Scalar&) [with Dest = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; int Mode = 5; bool LhsIsTriangular = true; Lhs = const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; typename Dest::Scalar = double]’
  438 |     internal::product_triangular_matrix_matrix<Scalar, Index,
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  439 |       Mode, LhsIsTriangular,
      |       ~~~~~~~~~~~~~~~~~~~~~~
  440 |       (internal::traits<ActualLhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, LhsBlasTraits::NeedToConjugate,
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  441 |       (internal::traits<ActualRhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, RhsBlasTraits::NeedToConjugate,
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  442 |       (internal::traits<Dest          >::Flags&RowMajorBit) ? RowMajor : ColMajor, Dest::InnerStrideAtCompileTime>
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  443 |       ::run(
      |       ~~~~~^
  444 |         stripedRows, stripedCols, stripedDepth,   // sizes
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  445 |         &lhs.coeffRef(0,0), lhs.outerStride(),    // lhs info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  446 |         &rhs.coeffRef(0,0), rhs.outerStride(),    // rhs info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  447 |         &dst.coeffRef(0,0), dst.innerStride(), dst.outerStride(),    // result info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  448 |         actualAlpha, blocking
      |         ~~~~~~~~~~~~~~~~~~~~~
  449 |       );
      |       ~     
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:770:14:   required from ‘static void Eigen::internal::generic_product_impl<Lhs, Rhs, Eigen::TriangularShape, Eigen::DenseShape, ProductTag>::scaleAndAddTo(Dest&, const Lhs&, const Rhs&, const Scalar&) [with Dest = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; Lhs = Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; int ProductTag = 3; Scalar = double]’
  769 |     triangular_product_impl<Lhs::Mode,true,typename Lhs::MatrixType,false,Rhs, Rhs::ColsAtCompileTime==1>
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  770 |         ::run(dst, lhs.nestedExpression(), rhs, alpha);
      |         ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:361:27:   required from ‘static void Eigen::internal::generic_product_impl_base<Lhs, Rhs, Derived>::scaleAndAddTo(Dst&, const Lhs&, const Rhs&, const Scalar&) [with Dst = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; Lhs = Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; Derived = Eigen::internal::generic_product_impl<Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, Eigen::TriangularShape, Eigen::DenseShape, 3>; Scalar = double]’
  361 |   { Derived::scaleAndAddTo(dst,lhs,rhs,alpha); }
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:357:18:   required from ‘static void Eigen::internal::generic_product_impl_base<Lhs, Rhs, Derived>::subTo(Dst&, const Lhs&, const Rhs&) [with Dst = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; Lhs = Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; Derived = Eigen::internal::generic_product_impl<Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, Eigen::TriangularShape, Eigen::DenseShape, 3>]’
  357 |   { scaleAndAddTo(dst, lhs, rhs, Scalar(-1)); }
      |     ~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:178:42:   [ skipping 5 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:2100:82: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
 2100 |   typedef typename unpacket_traits<typename unpacket_traits<Packet>::half>::half QuarterPacket;
      |                                                                                  ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:2102:56: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
 2102 |          HalfPacketSize = unpacket_traits<HalfPacket>::size,
      |                                                        ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:2103:62: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
 2103 |          QuarterPacketSize = unpacket_traits<QuarterPacket>::size,
      |                                                              ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:2103:62: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h: In instantiation of ‘void Eigen::internal::gebp_kernel<LhsScalar, RhsScalar, Index, DataMapper, mr, nr, ConjugateLhs, ConjugateRhs>::operator()(const DataMapper&, const LhsScalar*, const RhsScalar*, Index, Index, Index, ResScalar, Index, Index, Index, Index) [with LhsScalar = double; RhsScalar = double; Index = long int; DataMapper = Eigen::internal::blas_data_mapper<double, long int, 0, 0, 1>; int mr = 4; int nr = 4; bool ConjugateLhs = false; bool ConjugateRhs = false; ResScalar = double]’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:205:22:   required from ‘static void Eigen::internal::product_triangular_matrix_matrix<Scalar, Index, Mode, true, LhsStorageOrder, ConjugateLhs, RhsStorageOrder, ConjugateRhs, 0, ResInnerStride, Version>::run(Index, Index, Index, const Scalar*, Index, const Scalar*, Index, Scalar*, Index, Index, const Scalar&, Eigen::internal::level3_blocking<Scalar, Scalar>&) [with Scalar = double; Index = long int; int Mode = 5; int LhsStorageOrder = 0; bool ConjugateLhs = false; int RhsStorageOrder = 0; bool ConjugateRhs = false; int ResInnerStride = 1; int Version = 0]’
  205 |           gebp_kernel(res.getSubMapper(startBlock, 0), blockA, blockB,
      |           ~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  206 |                       actualPanelWidth, actualPanelWidth, cols, alpha,
      |                       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  207 |                       actualPanelWidth, actual_kc, 0, blockBOffset);
      |                       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:443:12:   required from ‘static void Eigen::internal::triangular_product_impl<Mode, LhsIsTriangular, Lhs, false, Rhs, false>::run(Dest&, const Lhs&, const Rhs&, const typename Dest::Scalar&) [with Dest = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; int Mode = 5; bool LhsIsTriangular = true; Lhs = const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; typename Dest::Scalar = double]’
  438 |     internal::product_triangular_matrix_matrix<Scalar, Index,
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  439 |       Mode, LhsIsTriangular,
      |       ~~~~~~~~~~~~~~~~~~~~~~
  440 |       (internal::traits<ActualLhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, LhsBlasTraits::NeedToConjugate,
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  441 |       (internal::traits<ActualRhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, RhsBlasTraits::NeedToConjugate,
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  442 |       (internal::traits<Dest          >::Flags&RowMajorBit) ? RowMajor : ColMajor, Dest::InnerStrideAtCompileTime>
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  443 |       ::run(
      |       ~~~~~^
  444 |         stripedRows, stripedCols, stripedDepth,   // sizes
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  445 |         &lhs.coeffRef(0,0), lhs.outerStride(),    // lhs info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  446 |         &rhs.coeffRef(0,0), rhs.outerStride(),    // rhs info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  447 |         &dst.coeffRef(0,0), dst.innerStride(), dst.outerStride(),    // result info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  448 |         actualAlpha, blocking
      |         ~~~~~~~~~~~~~~~~~~~~~
  449 |       );
      |       ~     
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:770:14:   required from ‘static void Eigen::internal::generic_product_impl<Lhs, Rhs, Eigen::TriangularShape, Eigen::DenseShape, ProductTag>::scaleAndAddTo(Dest&, const Lhs&, const Rhs&, const Scalar&) [with Dest = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; Lhs = Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; int ProductTag = 3; Scalar = double]’
  769 |     triangular_product_impl<Lhs::Mode,true,typename Lhs::MatrixType,false,Rhs, Rhs::ColsAtCompileTime==1>
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  770 |         ::run(dst, lhs.nestedExpression(), rhs, alpha);
      |         ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:361:27:   required from ‘static void Eigen::internal::generic_product_impl_base<Lhs, Rhs, Derived>::scaleAndAddTo(Dst&, const Lhs&, const Rhs&, const Scalar&) [with Dst = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; Lhs = Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; Derived = Eigen::internal::generic_product_impl<Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, Eigen::TriangularShape, Eigen::DenseShape, 3>; Scalar = double]’
  361 |   { Derived::scaleAndAddTo(dst,lhs,rhs,alpha); }
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:357:18:   required from ‘static void Eigen::internal::generic_product_impl_base<Lhs, Rhs, Derived>::subTo(Dst&, const Lhs&, const Rhs&) [with Dst = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; Lhs = Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; Derived = Eigen::internal::generic_product_impl<Eigen::TriangularView<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 5>, Eigen::Matrix<double, -1, -1, 0, 2, 3>, Eigen::TriangularShape, Eigen::DenseShape, 3>]’
  357 |   { scaleAndAddTo(dst, lhs, rhs, Scalar(-1)); }
      |     ~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:178:42:   [ skipping 5 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:1920:103: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
 1920 |           const int SResPacketHalfSize = unpacket_traits<typename unpacket_traits<SResPacket>::half>::size;
      |                                                                                                       ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:1921:138: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
 1921 |           const int SResPacketQuarterSize = unpacket_traits<typename unpacket_traits<typename unpacket_traits<SResPacket>::half>::half>::size;
      |                                                                                                                                          ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:1921:138: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:1977:135: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
 1977 |               typedef typename conditional<SwappedTraits::LhsProgress>=8,typename unpacket_traits<SResPacket>::half,SResPacket>::type SResPacketHalf;
      |                                                                                                                                       ^~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:1978:135: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
 1978 |               typedef typename conditional<SwappedTraits::LhsProgress>=8,typename unpacket_traits<SLhsPacket>::half,SLhsPacket>::type SLhsPacketHalf;
      |                                                                                                                                       ^~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:1979:135: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
 1979 |               typedef typename conditional<SwappedTraits::LhsProgress>=8,typename unpacket_traits<SRhsPacket>::half,SRhsPacket>::type SRhsPacketHalf;
      |                                                                                                                                       ^~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:1980:135: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
 1980 |               typedef typename conditional<SwappedTraits::LhsProgress>=8,typename unpacket_traits<SAccPacket>::half,SAccPacket>::type SAccPacketHalf;
      |                                                                                                                                       ^~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Transpose.h:118:37:   required from ‘class Eigen::TransposeImpl<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true>, Eigen::Dense>’
  118 | template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
      |                                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Transpose.h:52:37:   required from ‘class Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >’
   52 | template<typename MatrixType> class Transpose
      |                                     ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:618:37:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true> >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:618:52:   required from ‘const Eigen::internal::product_evaluator<Eigen::Product<Lhs, Rhs, 1>, ProductTag, Eigen::DenseShape, Eigen::DenseShape>::CoeffReturnType Eigen::internal::product_evaluator<Eigen::Product<Lhs, Rhs, 1>, ProductTag, Eigen::DenseShape, Eigen::DenseShape>::coeff(Eigen::Index) const [with Lhs = Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >; Rhs = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>; int ProductTag = 3; typename Eigen::internal::traits<typename Eigen::Product<Lhs, Rhs, 1>::Lhs>::Scalar = double; typename Eigen::Product<Lhs, Rhs, 1>::Lhs = Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >; typename Eigen::internal::traits<typename Eigen::Product<Lhs, Rhs, 1>::Rhs>::Scalar = double; typename Eigen::Product<Lhs, Rhs, 1>::Rhs = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>; CoeffReturnType = double; Eigen::Index = long int]’
  618 |     return (m_lhs.row(row).transpose().cwiseProduct( m_rhs.col(col) )).sum();
      |            ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:660:61:   [ skipping 11 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Map.h:94:79:   required from ‘class Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >’
   94 | template<typename PlainObjectType, int MapOptions, typename StrideType> class Map
      |                                                                               ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:115:18:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Map.h:94:79:   required from ‘class Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >’
   94 | template<typename PlainObjectType, int MapOptions, typename StrideType> class Map
      |                                                                               ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:119:18:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Map<Eigen::Matrix<double, -1, 1>, 0, Eigen::InnerStride<> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Map<Eigen::Matrix<double, -1, 1>, 0, Eigen::InnerStride<> >, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Map<Eigen::Matrix<double, -1, 1>, 0, Eigen::InnerStride<> >, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Map<Eigen::Matrix<double, -1, 1>, 0, Eigen::InnerStride<> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Map<Eigen::Matrix<double, -1, 1>, 0, Eigen::InnerStride<> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Map<Eigen::Matrix<double, -1, 1>, 0, Eigen::InnerStride<> >, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> >, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Transpose.h:118:37:   required from ‘class Eigen::TransposeImpl<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false>, Eigen::Dense>’
  118 | template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
      |                                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Transpose.h:52:37:   required from ‘class Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> >’
   52 | template<typename MatrixType> class Transpose
      |                                     ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:137:106:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false>, const Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> > >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false>, const Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> > > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false>, const Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> > > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false>, const Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> >, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false>, const Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> > >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:137:77:   required from ‘static void Eigen::internal::triangular_matrix_vector_product<Index, Mode, LhsScalar, ConjLhs, RhsScalar, ConjRhs, 1, Version>::run(Index, Index, const LhsScalar*, Index, const RhsScalar*, Index, ResScalar*, Index, const ResScalar&) [with Index = long int; int Mode = 6; LhsScalar = double; bool ConjLhs = false; RhsScalar = double; bool ConjRhs = false; int Version = 0; ResScalar = double]’
  137 |           res.coeffRef(i) += alpha * (cjLhs.row(i).segment(s,r).cwiseProduct(cjRhs.segment(s,r).transpose())).sum();
      |                                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:332:12:   [ skipping 11 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
In file included from /usr/local/lib/R/library/RcppEigen/include/Eigen/Core:333:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h: In instantiation of ‘class Eigen::internal::gemv_traits<double, double, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:306:38:   required from ‘struct Eigen::internal::general_matrix_vector_product<long int, double, Eigen::internal::const_blas_data_mapper<double, long int, 1>, 1, false, double, Eigen::internal::const_blas_data_mapper<double, long int, 1>, false, 1>’
  306 |   typedef typename Traits::LhsPacket LhsPacket;
      |                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:145:123:   required from ‘static void Eigen::internal::triangular_matrix_vector_product<Index, Mode, LhsScalar, ConjLhs, RhsScalar, ConjRhs, 1, Version>::run(Index, Index, const LhsScalar*, Index, const RhsScalar*, Index, ResScalar*, Index, const ResScalar&) [with Index = long int; int Mode = 6; LhsScalar = double; bool ConjLhs = false; RhsScalar = double; bool ConjRhs = false; int Version = 0; ResScalar = double]’
  145 |         general_matrix_vector_product<Index,LhsScalar,LhsMapper,RowMajor,ConjLhs,RhsScalar,RhsMapper,ConjRhs,BuiltIn>::run(
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
  146 |             actualPanelWidth, r,
      |             ~~~~~~~~~~~~~~~~~~~~                                                                                           
  147 |             LhsMapper(&lhs.coeffRef(pi,s), lhsStride),
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~                                                                     
  148 |             RhsMapper(&rhs.coeffRef(s), rhsIncr),
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~                                                                          
  149 |             &res.coeffRef(pi), resIncr, alpha);
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~                                                                             
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:332:12:   required from ‘static void Eigen::internal::trmv_selector<Mode, 1>::run(const Lhs&, const Rhs&, Dest&, const typename Dest::Scalar&) [with Lhs = Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false> >; Rhs = Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >; Dest = Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >; int Mode = 6; typename Dest::Scalar = double]’
  327 |     internal::triangular_matrix_vector_product
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  328 |       <Index,Mode,
      |       ~~~~~~~~~~~~
  329 |        LhsScalar, LhsBlasTraits::NeedToConjugate,
      |        ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  330 |        RhsScalar, RhsBlasTraits::NeedToConjugate,
      |        ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  331 |        RowMajor>
      |        ~~~~~~~~~
  332 |       ::run(actualLhs.rows(),actualLhs.cols(),
      |       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  333 |             actualLhs.data(),actualLhs.outerStride(),
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  334 |             actualRhsPtr,1,
      |             ~~~~~~~~~~~~~~~
  335 |             dest.data(),dest.innerStride(),
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  336 |             actualAlpha);
      |             ~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:194:18:   required from ‘static void Eigen::internal::triangular_product_impl<Mode, false, Lhs, true, Rhs, false>::run(Dest&, const Lhs&, const Rhs&, const typename Dest::Scalar&) [with Dest = Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false>; int Mode = 5; Lhs = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >; Rhs = const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>; typename Dest::Scalar = double]’
  192 |     internal::trmv_selector<(Mode & (UnitDiag|ZeroDiag)) | ((Mode & Lower) ? Upper : Lower),
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  193 |                             (int(internal::traits<Rhs>::Flags)&RowMajorBit) ? ColMajor : RowMajor>
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  194 |             ::run(rhs.transpose(),lhs.transpose(), dstT, alpha);
      |             ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:783:113:   required from ‘static void Eigen::internal::generic_product_impl<Lhs, Rhs, Eigen::DenseShape, Eigen::TriangularShape, ProductTag>::scaleAndAddTo(Dest&, const Lhs&, const Rhs&, const Scalar&) [with Dest = Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false>; Lhs = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >; Rhs = Eigen::TriangularView<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 5>; int ProductTag = 3; Scalar = double]’
  783 |     triangular_product_impl<Rhs::Mode,false,Lhs,Lhs::RowsAtCompileTime==1, typename Rhs::MatrixType, false>::run(dst, lhs, rhs.nestedExpression(), alpha);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:361:27:   [ skipping 8 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:44:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   44 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:44:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   44 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:44:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   44 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:44:27: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   44 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:45:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   45 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:45:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   45 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:45:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   45 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:45:27: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   45 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:46:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   46 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:46:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   46 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:46:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   46 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:46:27: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   46 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:51:53: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   51 |         Vectorizable = unpacket_traits<_LhsPacket>::vectorizable &&
      |                                                     ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:51:53: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:51:53: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:51:53: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:52:38: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   52 |         unpacket_traits<_RhsPacket>::vectorizable &&
      |                                      ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:52:38: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:52:38: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:52:38: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:42: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   53 |         int(unpacket_traits<_LhsPacket>::size)==int(unpacket_traits<_RhsPacket>::size),
      |                                          ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:42: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:42: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:42: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:82: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   53 |         int(unpacket_traits<_LhsPacket>::size)==int(unpacket_traits<_RhsPacket>::size),
      |                                                                                  ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:82: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:82: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:82: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:54:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   54 |         LhsPacketSize = Vectorizable ? unpacket_traits<_LhsPacket>::size : 1,
      |                                                                     ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:54:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:54:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:54:69: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:55:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   55 |         RhsPacketSize = Vectorizable ? unpacket_traits<_RhsPacket>::size : 1,
      |                                                                     ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:55:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:55:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:55:69: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:56:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |         ResPacketSize = Vectorizable ? unpacket_traits<_ResPacket>::size : 1
      |                                                                     ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:56:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:56:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:56:69: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:59:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   59 |   typedef typename conditional<Vectorizable,_LhsPacket,LhsScalar>::type LhsPacket;
      |                                                                         ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:59:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:59:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:59:73: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:60:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   60 |   typedef typename conditional<Vectorizable,_RhsPacket,RhsScalar>::type RhsPacket;
      |                                                                         ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:60:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:60:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:60:73: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:61:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   61 |   typedef typename conditional<Vectorizable,_ResPacket,ResScalar>::type ResPacket;
      |                                                                         ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:61:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:61:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:61:73: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h: In instantiation of ‘class Eigen::internal::gemv_traits<double, double, 1>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:310:42:   required from ‘struct Eigen::internal::general_matrix_vector_product<long int, double, Eigen::internal::const_blas_data_mapper<double, long int, 1>, 1, false, double, Eigen::internal::const_blas_data_mapper<double, long int, 1>, false, 1>’
  310 |   typedef typename HalfTraits::LhsPacket LhsPacketHalf;
      |                                          ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:145:123:   required from ‘static void Eigen::internal::triangular_matrix_vector_product<Index, Mode, LhsScalar, ConjLhs, RhsScalar, ConjRhs, 1, Version>::run(Index, Index, const LhsScalar*, Index, const RhsScalar*, Index, ResScalar*, Index, const ResScalar&) [with Index = long int; int Mode = 6; LhsScalar = double; bool ConjLhs = false; RhsScalar = double; bool ConjRhs = false; int Version = 0; ResScalar = double]’
  145 |         general_matrix_vector_product<Index,LhsScalar,LhsMapper,RowMajor,ConjLhs,RhsScalar,RhsMapper,ConjRhs,BuiltIn>::run(
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
  146 |             actualPanelWidth, r,
      |             ~~~~~~~~~~~~~~~~~~~~                                                                                           
  147 |             LhsMapper(&lhs.coeffRef(pi,s), lhsStride),
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~                                                                     
  148 |             RhsMapper(&rhs.coeffRef(s), rhsIncr),
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~                                                                          
  149 |             &res.coeffRef(pi), resIncr, alpha);
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~                                                                             
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:332:12:   required from ‘static void Eigen::internal::trmv_selector<Mode, 1>::run(const Lhs&, const Rhs&, Dest&, const typename Dest::Scalar&) [with Lhs = Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false> >; Rhs = Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >; Dest = Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >; int Mode = 6; typename Dest::Scalar = double]’
  327 |     internal::triangular_matrix_vector_product
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  328 |       <Index,Mode,
      |       ~~~~~~~~~~~~
  329 |        LhsScalar, LhsBlasTraits::NeedToConjugate,
      |        ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  330 |        RhsScalar, RhsBlasTraits::NeedToConjugate,
      |        ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  331 |        RowMajor>
      |        ~~~~~~~~~
  332 |       ::run(actualLhs.rows(),actualLhs.cols(),
      |       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  333 |             actualLhs.data(),actualLhs.outerStride(),
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  334 |             actualRhsPtr,1,
      |             ~~~~~~~~~~~~~~~
  335 |             dest.data(),dest.innerStride(),
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  336 |             actualAlpha);
      |             ~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:194:18:   required from ‘static void Eigen::internal::triangular_product_impl<Mode, false, Lhs, true, Rhs, false>::run(Dest&, const Lhs&, const Rhs&, const typename Dest::Scalar&) [with Dest = Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false>; int Mode = 5; Lhs = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >; Rhs = const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>; typename Dest::Scalar = double]’
  192 |     internal::trmv_selector<(Mode & (UnitDiag|ZeroDiag)) | ((Mode & Lower) ? Upper : Lower),
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  193 |                             (int(internal::traits<Rhs>::Flags)&RowMajorBit) ? ColMajor : RowMajor>
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  194 |             ::run(rhs.transpose(),lhs.transpose(), dstT, alpha);
      |             ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:783:113:   required from ‘static void Eigen::internal::generic_product_impl<Lhs, Rhs, Eigen::DenseShape, Eigen::TriangularShape, ProductTag>::scaleAndAddTo(Dest&, const Lhs&, const Rhs&, const Scalar&) [with Dest = Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false>; Lhs = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >; Rhs = Eigen::TriangularView<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 5>; int ProductTag = 3; Scalar = double]’
  783 |     triangular_product_impl<Rhs::Mode,false,Lhs,Lhs::RowsAtCompileTime==1, typename Rhs::MatrixType, false>::run(dst, lhs, rhs.nestedExpression(), alpha);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:361:27:   [ skipping 8 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:44:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   44 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:44:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   44 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:44:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   44 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:44:27: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   44 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:45:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   45 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:45:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   45 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:45:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   45 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:45:27: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   45 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:46:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   46 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:46:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   46 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:46:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   46 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:46:27: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   46 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:51:53: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   51 |         Vectorizable = unpacket_traits<_LhsPacket>::vectorizable &&
      |                                                     ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:51:53: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:51:53: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:51:53: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:52:38: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   52 |         unpacket_traits<_RhsPacket>::vectorizable &&
      |                                      ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:52:38: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:52:38: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:52:38: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:42: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   53 |         int(unpacket_traits<_LhsPacket>::size)==int(unpacket_traits<_RhsPacket>::size),
      |                                          ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:42: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:42: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:42: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:82: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   53 |         int(unpacket_traits<_LhsPacket>::size)==int(unpacket_traits<_RhsPacket>::size),
      |                                                                                  ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:82: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:82: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:82: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:54:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   54 |         LhsPacketSize = Vectorizable ? unpacket_traits<_LhsPacket>::size : 1,
      |                                                                     ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:54:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:54:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:54:69: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:55:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   55 |         RhsPacketSize = Vectorizable ? unpacket_traits<_RhsPacket>::size : 1,
      |                                                                     ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:55:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:55:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:55:69: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:56:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |         ResPacketSize = Vectorizable ? unpacket_traits<_ResPacket>::size : 1
      |                                                                     ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:56:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:56:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:56:69: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:59:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   59 |   typedef typename conditional<Vectorizable,_LhsPacket,LhsScalar>::type LhsPacket;
      |                                                                         ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:59:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:59:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:59:73: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:60:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   60 |   typedef typename conditional<Vectorizable,_RhsPacket,RhsScalar>::type RhsPacket;
      |                                                                         ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:60:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:60:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:60:73: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:61:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   61 |   typedef typename conditional<Vectorizable,_ResPacket,ResScalar>::type ResPacket;
      |                                                                         ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:61:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:61:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:61:73: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h: In instantiation of ‘class Eigen::internal::gemv_traits<double, double, 2>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:314:45:   required from ‘struct Eigen::internal::general_matrix_vector_product<long int, double, Eigen::internal::const_blas_data_mapper<double, long int, 1>, 1, false, double, Eigen::internal::const_blas_data_mapper<double, long int, 1>, false, 1>’
  314 |   typedef typename QuarterTraits::LhsPacket LhsPacketQuarter;
      |                                             ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:145:123:   required from ‘static void Eigen::internal::triangular_matrix_vector_product<Index, Mode, LhsScalar, ConjLhs, RhsScalar, ConjRhs, 1, Version>::run(Index, Index, const LhsScalar*, Index, const RhsScalar*, Index, ResScalar*, Index, const ResScalar&) [with Index = long int; int Mode = 6; LhsScalar = double; bool ConjLhs = false; RhsScalar = double; bool ConjRhs = false; int Version = 0; ResScalar = double]’
  145 |         general_matrix_vector_product<Index,LhsScalar,LhsMapper,RowMajor,ConjLhs,RhsScalar,RhsMapper,ConjRhs,BuiltIn>::run(
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^
  146 |             actualPanelWidth, r,
      |             ~~~~~~~~~~~~~~~~~~~~                                                                                           
  147 |             LhsMapper(&lhs.coeffRef(pi,s), lhsStride),
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~                                                                     
  148 |             RhsMapper(&rhs.coeffRef(s), rhsIncr),
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~                                                                          
  149 |             &res.coeffRef(pi), resIncr, alpha);
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~                                                                             
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:332:12:   required from ‘static void Eigen::internal::trmv_selector<Mode, 1>::run(const Lhs&, const Rhs&, Dest&, const typename Dest::Scalar&) [with Lhs = Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false> >; Rhs = Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >; Dest = Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >; int Mode = 6; typename Dest::Scalar = double]’
  327 |     internal::triangular_matrix_vector_product
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  328 |       <Index,Mode,
      |       ~~~~~~~~~~~~
  329 |        LhsScalar, LhsBlasTraits::NeedToConjugate,
      |        ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  330 |        RhsScalar, RhsBlasTraits::NeedToConjugate,
      |        ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  331 |        RowMajor>
      |        ~~~~~~~~~
  332 |       ::run(actualLhs.rows(),actualLhs.cols(),
      |       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  333 |             actualLhs.data(),actualLhs.outerStride(),
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  334 |             actualRhsPtr,1,
      |             ~~~~~~~~~~~~~~~
  335 |             dest.data(),dest.innerStride(),
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  336 |             actualAlpha);
      |             ~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:194:18:   required from ‘static void Eigen::internal::triangular_product_impl<Mode, false, Lhs, true, Rhs, false>::run(Dest&, const Lhs&, const Rhs&, const typename Dest::Scalar&) [with Dest = Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false>; int Mode = 5; Lhs = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >; Rhs = const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>; typename Dest::Scalar = double]’
  192 |     internal::trmv_selector<(Mode & (UnitDiag|ZeroDiag)) | ((Mode & Lower) ? Upper : Lower),
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  193 |                             (int(internal::traits<Rhs>::Flags)&RowMajorBit) ? ColMajor : RowMajor>
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  194 |             ::run(rhs.transpose(),lhs.transpose(), dstT, alpha);
      |             ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:783:113:   required from ‘static void Eigen::internal::generic_product_impl<Lhs, Rhs, Eigen::DenseShape, Eigen::TriangularShape, ProductTag>::scaleAndAddTo(Dest&, const Lhs&, const Rhs&, const Scalar&) [with Dest = Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false>; Lhs = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >; Rhs = Eigen::TriangularView<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 5>; int ProductTag = 3; Scalar = double]’
  783 |     triangular_product_impl<Rhs::Mode,false,Lhs,Lhs::RowsAtCompileTime==1, typename Rhs::MatrixType, false>::run(dst, lhs, rhs.nestedExpression(), alpha);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:361:27:   [ skipping 8 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:44:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   44 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:44:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   44 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:44:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   44 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:44:27: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   44 |   PACKET_DECL_COND_PREFIX(_, Lhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:45:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   45 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:45:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   45 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:45:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   45 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:45:27: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   45 |   PACKET_DECL_COND_PREFIX(_, Rhs, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:46:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   46 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:46:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   46 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:46:27: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   46 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:46:27: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   46 |   PACKET_DECL_COND_PREFIX(_, Res, _PacketSize);
      |                           ^
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:42:3: note: in definition of macro ‘PACKET_DECL_COND_PREFIX’
   42 |   prefix ## name ## Packet
      |   ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:51:53: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   51 |         Vectorizable = unpacket_traits<_LhsPacket>::vectorizable &&
      |                                                     ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:51:53: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:51:53: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:51:53: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:52:38: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   52 |         unpacket_traits<_RhsPacket>::vectorizable &&
      |                                      ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:52:38: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:52:38: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:52:38: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:42: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   53 |         int(unpacket_traits<_LhsPacket>::size)==int(unpacket_traits<_RhsPacket>::size),
      |                                          ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:42: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:42: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:42: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:82: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   53 |         int(unpacket_traits<_LhsPacket>::size)==int(unpacket_traits<_RhsPacket>::size),
      |                                                                                  ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:82: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:82: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:53:82: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:54:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   54 |         LhsPacketSize = Vectorizable ? unpacket_traits<_LhsPacket>::size : 1,
      |                                                                     ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:54:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:54:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:54:69: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:55:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   55 |         RhsPacketSize = Vectorizable ? unpacket_traits<_RhsPacket>::size : 1,
      |                                                                     ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:55:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:55:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:55:69: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:56:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |         ResPacketSize = Vectorizable ? unpacket_traits<_ResPacket>::size : 1
      |                                                                     ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:56:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:56:69: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:56:69: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:59:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   59 |   typedef typename conditional<Vectorizable,_LhsPacket,LhsScalar>::type LhsPacket;
      |                                                                         ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:59:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:59:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:59:73: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:60:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   60 |   typedef typename conditional<Vectorizable,_RhsPacket,RhsScalar>::type RhsPacket;
      |                                                                         ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:60:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:60:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:60:73: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:61:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
   61 |   typedef typename conditional<Vectorizable,_ResPacket,ResScalar>::type ResPacket;
      |                                                                         ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:61:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:61:73: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralMatrixVector.h:61:73: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 8, 8, 1, 8, 8>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 8, 8, 1, 8, 8>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 8, 8, 1, 8, 8>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, 8, 8, 1, 8, 8> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, 8, 8, 1, 8, 8> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, 8, 8, 1, 8, 8> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   [ skipping 13 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Diagonal<Eigen::Matrix<double, 8, 8, 1, 8, 8>, 0>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Diagonal<Eigen::Matrix<double, 8, 8, 1, 8, 8>, 0>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Diagonal<Eigen::Matrix<double, 8, 8, 1, 8, 8>, 0>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Diagonal<Eigen::Matrix<double, 8, 8, 1, 8, 8>, 0> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Diagonal<Eigen::Matrix<double, 8, 8, 1, 8, 8>, 0> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Diagonal.h:63:53:   required from ‘class Eigen::Diagonal<Eigen::Matrix<double, 8, 8, 1, 8, 8>, 0>’
   63 | template<typename MatrixType, int _DiagIndex> class Diagonal
      |                                                     ^~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:153:32:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 8, 8, 0, 8, 8> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 8, 8, 0, 8, 8> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 8, 8, 0, 8, 8> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 8, 8, 0, 8, 8> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:347:30:   required from ‘Derived& Eigen::DenseBase<Derived>::setConstant(const Scalar&) [with Derived = Eigen::Matrix<double, 8, 8, 0, 8, 8>; Scalar = double]’
  347 |   return derived() = Constant(rows(), cols(), val);
      |                      ~~~~~~~~^~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:548:10:   required from ‘Derived& Eigen::DenseBase<Derived>::setZero() [with Derived = Eigen::Matrix<double, 8, 8, 0, 8, 8>]’
  548 |   return setConstant(Scalar(0));
      |          ^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:151:29:   [ skipping 10 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 8, 1, 0, 8, 1> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 8, 1, 0, 8, 1> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 8, 1, 0, 8, 1> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 8, 1, 0, 8, 1> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:347:30:   required from ‘Derived& Eigen::DenseBase<Derived>::setConstant(const Scalar&) [with Derived = Eigen::Diagonal<Eigen::Matrix<double, 8, 8, 0, 8, 8>, 0>; Scalar = double]’
  347 |   return derived() = Constant(rows(), cols(), val);
      |                      ~~~~~~~~^~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:548:10:   required from ‘Derived& Eigen::DenseBase<Derived>::setZero() [with Derived = Eigen::Diagonal<Eigen::Matrix<double, 8, 8, 0, 8, 8>, 0>]’
  548 |   return setConstant(Scalar(0));
      |          ^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:153:42:   [ skipping 10 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Transpose.h:118:37:   required from ‘class Eigen::TransposeImpl<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true>, Eigen::Dense>’
  118 | template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
      |                                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Transpose.h:52:37:   required from ‘class Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >’
   52 | template<typename MatrixType> class Transpose
      |                                     ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:618:37:   [ skipping 13 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true> >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:618:52:   required from ‘const Eigen::internal::product_evaluator<Eigen::Product<Lhs, Rhs, 1>, ProductTag, Eigen::DenseShape, Eigen::DenseShape>::CoeffReturnType Eigen::internal::product_evaluator<Eigen::Product<Lhs, Rhs, 1>, ProductTag, Eigen::DenseShape, Eigen::DenseShape>::coeff(Eigen::Index) const [with Lhs = Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >; Rhs = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>; int ProductTag = 3; typename Eigen::internal::traits<typename Eigen::Product<Lhs, Rhs, 1>::Lhs>::Scalar = double; typename Eigen::Product<Lhs, Rhs, 1>::Lhs = Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >; typename Eigen::internal::traits<typename Eigen::Product<Lhs, Rhs, 1>::Rhs>::Scalar = double; typename Eigen::Product<Lhs, Rhs, 1>::Rhs = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>; CoeffReturnType = double; Eigen::Index = long int]’
  618 |     return (m_lhs.row(row).transpose().cwiseProduct( m_rhs.col(col) )).sum();
      |            ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:660:61:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false> >, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Transpose.h:118:37:   required from ‘class Eigen::TransposeImpl<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false>, Eigen::Dense>’
  118 | template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
      |                                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Transpose.h:52:37:   required from ‘class Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false> >’
   52 | template<typename MatrixType> class Transpose
      |                                     ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:618:37:   [ skipping 13 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, -1, 1, true>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, -1, 1, true>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, -1, 1, true> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, -1, 1, true> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, -1, 1, true>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, -1, 1, true, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false> >, const Eigen::Block<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, -1, 1, true> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false> >, const Eigen::Block<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, -1, 1, true> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false> >, const Eigen::Block<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, -1, 1, true> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false> >, const Eigen::Block<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, -1, 1, true>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false> >, const Eigen::Block<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, -1, 1, true> >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:618:52:   required from ‘const Eigen::internal::product_evaluator<Eigen::Product<Lhs, Rhs, 1>, ProductTag, Eigen::DenseShape, Eigen::DenseShape>::CoeffReturnType Eigen::internal::product_evaluator<Eigen::Product<Lhs, Rhs, 1>, ProductTag, Eigen::DenseShape, Eigen::DenseShape>::coeff(Eigen::Index) const [with Lhs = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>; Rhs = Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>; int ProductTag = 3; typename Eigen::internal::traits<typename Eigen::Product<Lhs, Rhs, 1>::Lhs>::Scalar = double; typename Eigen::Product<Lhs, Rhs, 1>::Lhs = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>; typename Eigen::internal::traits<typename Eigen::Product<Lhs, Rhs, 1>::Rhs>::Scalar = double; typename Eigen::Product<Lhs, Rhs, 1>::Rhs = Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>; CoeffReturnType = double; Eigen::Index = long int]’
  618 |     return (m_lhs.row(row).transpose().cwiseProduct( m_rhs.col(col) )).sum();
      |            ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:660:61:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Transpose.h:118:37:   required from ‘class Eigen::TransposeImpl<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false>, Eigen::Dense>’
  118 | template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
      |                                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Transpose.h:52:37:   required from ‘class Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >’
   52 | template<typename MatrixType> class Transpose
      |                                     ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:606:37:   [ skipping 13 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, 1, false>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, 1, false>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, 1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, 1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, 1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, 1, false, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, 1, false> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, 1, false> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, 1, false> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, 1, false>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, 1, false> >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:606:52:   required from ‘const Eigen::internal::product_evaluator<Eigen::Product<Lhs, Rhs, 1>, ProductTag, Eigen::DenseShape, Eigen::DenseShape>::CoeffReturnType Eigen::internal::product_evaluator<Eigen::Product<Lhs, Rhs, 1>, ProductTag, Eigen::DenseShape, Eigen::DenseShape>::coeff(Eigen::Index, Eigen::Index) const [with Lhs = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> > >; Rhs = Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >; int ProductTag = 4; typename Eigen::internal::traits<typename Eigen::Product<Lhs, Rhs, 1>::Lhs>::Scalar = double; typename Eigen::Product<Lhs, Rhs, 1>::Lhs = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Map<Eigen::Matrix<double, -1, 1, 0, 3, 1>, 0, Eigen::Stride<0, 0> > >; typename Eigen::internal::traits<typename Eigen::Product<Lhs, Rhs, 1>::Rhs>::Scalar = double; typename Eigen::Product<Lhs, Rhs, 1>::Rhs = Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >; CoeffReturnType = double; Eigen::Index = long int]’
  606 |     return (m_lhs.row(row).transpose().cwiseProduct( m_rhs.col(col) )).sum();
      |            ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:654:63:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1, 1, false>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1, 1, false>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1, 1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1, 1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1, 1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1, 1, false, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1, 1, false> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1, 1, false> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1, 1, false> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1, 1, false>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1, 1, false> >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:606:52:   required from ‘const Eigen::internal::product_evaluator<Eigen::Product<Lhs, Rhs, 1>, ProductTag, Eigen::DenseShape, Eigen::DenseShape>::CoeffReturnType Eigen::internal::product_evaluator<Eigen::Product<Lhs, Rhs, 1>, ProductTag, Eigen::DenseShape, Eigen::DenseShape>::coeff(Eigen::Index, Eigen::Index) const [with Lhs = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >; Rhs = Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >; int ProductTag = 4; typename Eigen::internal::traits<typename Eigen::Product<Lhs, Rhs, 1>::Lhs>::Scalar = double; typename Eigen::Product<Lhs, Rhs, 1>::Lhs = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >; typename Eigen::internal::traits<typename Eigen::Product<Lhs, Rhs, 1>::Rhs>::Scalar = double; typename Eigen::Product<Lhs, Rhs, 1>::Rhs = Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >; CoeffReturnType = double; Eigen::Index = long int]’
  606 |     return (m_lhs.row(row).transpose().cwiseProduct( m_rhs.col(col) )).sum();
      |            ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:654:63:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h: In instantiation of ‘void Eigen::internal::gemm_pack_lhs<Scalar, Index, DataMapper, Pack1, Pack2, Packet, 1, Conjugate, PanelMode>::operator()(Scalar*, const DataMapper&, Index, Index, Index, Index) [with Scalar = double; Index = long int; DataMapper = Eigen::internal::const_blas_data_mapper<double, long int, 1>; int Pack1 = 4; int Pack2 = 2; Packet = __vector(2) double; bool Conjugate = false; bool PanelMode = false]’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:203:19:   required from ‘static void Eigen::internal::product_triangular_matrix_matrix<Scalar, Index, Mode, true, LhsStorageOrder, ConjugateLhs, RhsStorageOrder, ConjugateRhs, 0, ResInnerStride, Version>::run(Index, Index, Index, const Scalar*, Index, const Scalar*, Index, Scalar*, Index, Index, const Scalar&, Eigen::internal::level3_blocking<Scalar, Scalar>&) [with Scalar = double; Index = long int; int Mode = 6; int LhsStorageOrder = 1; bool ConjugateLhs = false; int RhsStorageOrder = 0; bool ConjugateRhs = false; int ResInnerStride = 1; int Version = 0]’
  203 |           pack_lhs(blockA, LhsMapper(triangularBuffer.data(), triangularBuffer.outerStride()), actualPanelWidth, actualPanelWidth);
      |           ~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:443:12:   required from ‘static void Eigen::internal::triangular_product_impl<Mode, LhsIsTriangular, Lhs, false, Rhs, false>::run(Dest&, const Lhs&, const Rhs&, const typename Dest::Scalar&) [with Dest = Eigen::Matrix<double, -1, -1, 0, 2, 3>; int Mode = 6; bool LhsIsTriangular = true; Lhs = const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >; Rhs = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; typename Dest::Scalar = double]’
  438 |     internal::product_triangular_matrix_matrix<Scalar, Index,
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  439 |       Mode, LhsIsTriangular,
      |       ~~~~~~~~~~~~~~~~~~~~~~
  440 |       (internal::traits<ActualLhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, LhsBlasTraits::NeedToConjugate,
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  441 |       (internal::traits<ActualRhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, RhsBlasTraits::NeedToConjugate,
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  442 |       (internal::traits<Dest          >::Flags&RowMajorBit) ? RowMajor : ColMajor, Dest::InnerStrideAtCompileTime>
      |       ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  443 |       ::run(
      |       ~~~~~^
  444 |         stripedRows, stripedCols, stripedDepth,   // sizes
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  445 |         &lhs.coeffRef(0,0), lhs.outerStride(),    // lhs info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  446 |         &rhs.coeffRef(0,0), rhs.outerStride(),    // rhs info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  447 |         &dst.coeffRef(0,0), dst.innerStride(), dst.outerStride(),    // result info
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  448 |         actualAlpha, blocking
      |         ~~~~~~~~~~~~~~~~~~~~~
  449 |       );
      |       ~     
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:770:14:   required from ‘static void Eigen::internal::generic_product_impl<Lhs, Rhs, Eigen::TriangularShape, Eigen::DenseShape, ProductTag>::scaleAndAddTo(Dest&, const Lhs&, const Rhs&, const Scalar&) [with Dest = Eigen::Matrix<double, -1, -1, 0, 2, 3>; Lhs = Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 6>; Rhs = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; int ProductTag = 3; Scalar = double]’
  769 |     triangular_product_impl<Lhs::Mode,true,typename Lhs::MatrixType,false,Rhs, Rhs::ColsAtCompileTime==1>
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  770 |         ::run(dst, lhs.nestedExpression(), rhs, alpha);
      |         ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:361:27:   required from ‘static void Eigen::internal::generic_product_impl_base<Lhs, Rhs, Derived>::scaleAndAddTo(Dst&, const Lhs&, const Rhs&, const Scalar&) [with Dst = Eigen::Matrix<double, -1, -1, 0, 2, 3>; Lhs = Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 6>; Rhs = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; Derived = Eigen::internal::generic_product_impl<Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 6>, Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, Eigen::TriangularShape, Eigen::DenseShape, 3>; Scalar = double]’
  361 |   { Derived::scaleAndAddTo(dst,lhs,rhs,alpha); }
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:349:33:   required from ‘static void Eigen::internal::generic_product_impl_base<Lhs, Rhs, Derived>::evalTo(Dst&, const Lhs&, const Rhs&) [with Dst = Eigen::Matrix<double, -1, -1, 0, 2, 3>; Lhs = Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 6>; Rhs = Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>; Derived = Eigen::internal::generic_product_impl<Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 6>, Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, Eigen::TriangularShape, Eigen::DenseShape, 3>]’
  349 |   { dst.setZero(); scaleAndAddTo(dst, lhs, rhs, Scalar(1)); }
      |                    ~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:148:43:   [ skipping 7 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:2256:82: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
 2256 |   typedef typename unpacket_traits<typename unpacket_traits<Packet>::half>::half QuarterPacket;
      |                                                                                  ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:2258:56: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
 2258 |          HalfPacketSize = unpacket_traits<HalfPacket>::size,
      |                                                        ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:2259:62: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
 2259 |          QuarterPacketSize = unpacket_traits<QuarterPacket>::size,
      |                                                              ^~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:2259:62: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:2298:39: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
 2298 |               PacketBlock<HalfPacket> kernel_half;
      |                                       ^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:2298:39: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:2304:42: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
 2304 |               PacketBlock<QuarterPacket> kernel_quarter;
      |                                          ^~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:2304:42: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:2304:42: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/GeneralBlockPanelKernel.h:2304:42: warning: ignoring attributes on template argument ‘Eigen::internal::unpacket_traits<__vector(2) double>::half’ {aka ‘__m128d’} [-Wignored-attributes]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1, 1, false>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1, 1, false>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1, 1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1, 1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1, 1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1, 1, false, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 16 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1, 1, false> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1, 1, false> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1, 1, false> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1, 1, false>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1, 1, false> >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:606:52:   required from ‘const Eigen::internal::product_evaluator<Eigen::Product<Lhs, Rhs, 1>, ProductTag, Eigen::DenseShape, Eigen::DenseShape>::CoeffReturnType Eigen::internal::product_evaluator<Eigen::Product<Lhs, Rhs, 1>, ProductTag, Eigen::DenseShape, Eigen::DenseShape>::coeff(Eigen::Index, Eigen::Index) const [with Lhs = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >; Rhs = Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >; int ProductTag = 4; typename Eigen::internal::traits<typename Eigen::Product<Lhs, Rhs, 1>::Lhs>::Scalar = double; typename Eigen::Product<Lhs, Rhs, 1>::Lhs = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >; typename Eigen::internal::traits<typename Eigen::Product<Lhs, Rhs, 1>::Rhs>::Scalar = double; typename Eigen::Product<Lhs, Rhs, 1>::Rhs = Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >; CoeffReturnType = double; Eigen::Index = long int]’
  606 |     return (m_lhs.row(row).transpose().cwiseProduct( m_rhs.col(col) )).sum();
      |            ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:654:63:   [ skipping 13 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:311:41:   required from ‘struct Eigen::internal::unary_evaluator<Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >, Eigen::internal::IndexBased, double>’
  311 |     CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
      |                                         ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:90:8:   required from ‘struct Eigen::internal::evaluator<Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> > >’
   90 | struct evaluator : public unary_evaluator<T>
      |        ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> > >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:739:41:   required from ‘struct Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true> >, Eigen::internal::IndexBased, Eigen::internal::IndexBased, double, double>’
  739 |     CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
      |                                         ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   [ skipping 16 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:739:78:   required from ‘struct Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true> >, Eigen::internal::IndexBased, Eigen::internal::IndexBased, double, double>’
  739 |     CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
      |                                                                              ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   required from ‘struct Eigen::internal::evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true> > >’
  722 | struct evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Redux.h:357:7:   required from ‘class Eigen::internal::redux_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true> > >’
  357 | class redux_evaluator : public internal::evaluator<_XprType>
      |       ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Redux.h:414:17:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::redux(const Func&) const [with BinaryOp = Eigen::internal::scalar_sum_op<double, double>; Derived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true> >; typename Eigen::internal::traits<T>::Scalar = double]’
  414 |   ThisEvaluator thisEval(derived());
      |                 ^~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Redux.h:463:25:   [ skipping 13 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1043:41:   required from ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false> >’
 1043 |     CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
      |                                         ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:739:41:   required from ‘struct Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false>, const Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> > >, Eigen::internal::IndexBased, Eigen::internal::IndexBased, double, double>’
  739 |     CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
      |                                         ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   required from ‘struct Eigen::internal::evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false>, const Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> > > >’
  722 | struct evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Redux.h:357:7:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:739:41:   required from ‘struct Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false>, const Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> > >, Eigen::internal::IndexBased, Eigen::internal::IndexBased, double, double>’
  739 |     CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
      |                                         ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   required from ‘struct Eigen::internal::evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false>, const Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> > > >’
  722 | struct evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Redux.h:357:7:   required from ‘class Eigen::internal::redux_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false>, const Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> > > >’
  357 | class redux_evaluator : public internal::evaluator<_XprType>
      |       ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Redux.h:414:17:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::redux(const Func&) const [with BinaryOp = Eigen::internal::scalar_sum_op<double, double>; Derived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false>, const Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> > >; typename Eigen::internal::traits<T>::Scalar = double]’
  414 |   ThisEvaluator thisEval(derived());
      |                 ^~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Redux.h:463:25:   [ skipping 13 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:311:41:   required from ‘struct Eigen::internal::unary_evaluator<Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> >, Eigen::internal::IndexBased, double>’
  311 |     CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
      |                                         ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:90:8:   required from ‘struct Eigen::internal::evaluator<Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> > >’
   90 | struct evaluator : public unary_evaluator<T>
      |        ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> > >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:739:78:   required from ‘struct Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false>, const Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> > >, Eigen::internal::IndexBased, Eigen::internal::IndexBased, double, double>’
  739 |     CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
      |                                                                              ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   [ skipping 16 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 8, 8, 1, 8, 8> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 8, 8, 1, 8, 8> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 8, 8, 1, 8, 8> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 8, 8, 1, 8, 8> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:347:30:   required from ‘Derived& Eigen::DenseBase<Derived>::setConstant(const Scalar&) [with Derived = Eigen::Matrix<double, 8, 8, 1, 8, 8>; Scalar = double]’
  347 |   return derived() = Constant(rows(), cols(), val);
      |                      ~~~~~~~~^~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:548:10:   required from ‘Derived& Eigen::DenseBase<Derived>::setZero() [with Derived = Eigen::Matrix<double, 8, 8, 1, 8, 8>]’
  548 |   return setConstant(Scalar(0));
      |          ^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:151:29:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, 3> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, 3> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, 3> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, -1, -1, 0, -1, 3> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:347:30:   required from ‘Derived& Eigen::DenseBase<Derived>::setConstant(const Scalar&) [with Derived = Eigen::Matrix<double, -1, -1, 0, -1, 3>; Scalar = double]’
  347 |   return derived() = Constant(rows(), cols(), val);
      |                      ~~~~~~~~^~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:548:10:   required from ‘Derived& Eigen::DenseBase<Derived>::setZero() [with Derived = Eigen::Matrix<double, -1, -1, 0, -1, 3>]’
  548 |   return setConstant(Scalar(0));
      |          ^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:349:16:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 8, 1, 0, 8, 1>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 8, 1, 0, 8, 1>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, 8, 1, 0, 8, 1>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, 8, 1, 0, 8, 1> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, 8, 1, 0, 8, 1> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, 8, 1, 0, 8, 1> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, -1, -1, false> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:774:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>; SrcXprType = Eigen::Block<const Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, -1, -1, false>; Functor = sub_assign_op<double, double>]’
  774 |   SrcEvaluatorType srcEvaluator(src);
      |                    ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>; SrcXprType = Eigen::Block<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, -1, -1, false>; Functor = Eigen::internal::sub_assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   required from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>; Src = Eigen::Block<const Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, -1, -1, false>; Func = sub_assign_op<double, double>]’
  890 |   Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:858:27:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>; Src = Eigen::Block<const Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, -1, -1, false>; Func = sub_assign_op<double, double>; typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type = void*; typename evaluator_traits<SrcXprType>::Shape = Eigen::DenseShape]’
  858 |   call_assignment_no_alias(dst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:164:18:   required from ‘Derived& Eigen::MatrixBase<Derived>::operator-=(const Eigen::MatrixBase<OtherDerived>&) [with OtherDerived = Eigen::Block<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, -1, -1, false>; Derived = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>]’
  164 |   call_assignment(derived(), other.derived(), internal::sub_assign_op<Scalar,typename OtherDerived::Scalar>());
      |   ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:457:31:   [ skipping 9 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:739:78:   required from ‘struct Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 2> >, const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true> >, Eigen::internal::IndexBased, Eigen::internal::IndexBased, double, double>’
  739 |     CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
      |                                                                              ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   required from ‘struct Eigen::internal::evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 2> >, const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true> > >’
  722 | struct evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:774:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, true>; SrcXprType = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 2> >, const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true> >; Functor = sub_assign_op<double, double>]’
  774 |   SrcEvaluatorType srcEvaluator(src);
      |                    ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, true>; SrcXprType = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 2> >, const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true> >; Functor = Eigen::internal::sub_assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   [ skipping 12 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, true> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:780:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, true>; SrcXprType = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 2> >, const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true> >; Functor = sub_assign_op<double, double>]’
  780 |   DstEvaluatorType dstEvaluator(dst);
      |                    ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, true>; SrcXprType = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 2> >, const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true> >; Functor = Eigen::internal::sub_assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   required from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, true>; Src = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 2> >, const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true> >; Func = sub_assign_op<double, double>]’
  890 |   Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:858:27:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, true>; Src = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 2> >, const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true> >; Func = sub_assign_op<double, double>; typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type = void*; typename evaluator_traits<SrcXprType>::Shape = Eigen::DenseShape]’
  858 |   call_assignment_no_alias(dst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:164:18:   required from ‘Derived& Eigen::MatrixBase<Derived>::operator-=(const Eigen::MatrixBase<OtherDerived>&) [with OtherDerived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 2> >, const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, true> >; Derived = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, true>]’
  164 |   call_assignment(derived(), other.derived(), internal::sub_assign_op<Scalar,typename OtherDerived::Scalar>());
      |   ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:462:32:   [ skipping 9 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:311:41:   required from ‘struct Eigen::internal::unary_evaluator<Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >, Eigen::internal::IndexBased, double>’
  311 |     CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
      |                                         ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:90:8:   required from ‘struct Eigen::internal::evaluator<Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> > >’
   90 | struct evaluator : public unary_evaluator<T>
      |        ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> > >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:739:41:   required from ‘struct Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true> >, Eigen::internal::IndexBased, Eigen::internal::IndexBased, double, double>’
  739 |     CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
      |                                         ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   [ skipping 17 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:739:78:   required from ‘struct Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true> >, Eigen::internal::IndexBased, Eigen::internal::IndexBased, double, double>’
  739 |     CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
      |                                                                              ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   required from ‘struct Eigen::internal::evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true> > >’
  722 | struct evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Redux.h:357:7:   required from ‘class Eigen::internal::redux_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true> > >’
  357 | class redux_evaluator : public internal::evaluator<_XprType>
      |       ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Redux.h:414:17:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::redux(const Func&) const [with BinaryOp = Eigen::internal::scalar_sum_op<double, double>; Derived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true> >; typename Eigen::internal::traits<T>::Scalar = double]’
  414 |   ThisEvaluator thisEval(derived());
      |                 ^~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Redux.h:463:25:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:311:41:   required from ‘struct Eigen::internal::unary_evaluator<Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false> >, Eigen::internal::IndexBased, double>’
  311 |     CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
      |                                         ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:90:8:   required from ‘struct Eigen::internal::evaluator<Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false> > >’
   90 | struct evaluator : public unary_evaluator<T>
      |        ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false> > >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:739:41:   required from ‘struct Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false> >, const Eigen::Block<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, -1, 1, true> >, Eigen::internal::IndexBased, Eigen::internal::IndexBased, double, double>’
  739 |     CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
      |                                         ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   [ skipping 17 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, -1, 1, true> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, -1, 1, true> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:739:78:   required from ‘struct Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false> >, const Eigen::Block<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, -1, 1, true> >, Eigen::internal::IndexBased, Eigen::internal::IndexBased, double, double>’
  739 |     CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
      |                                                                              ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   required from ‘struct Eigen::internal::evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false> >, const Eigen::Block<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, -1, 1, true> > >’
  722 | struct evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Redux.h:357:7:   required from ‘class Eigen::internal::redux_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false> >, const Eigen::Block<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, -1, 1, true> > >’
  357 | class redux_evaluator : public internal::evaluator<_XprType>
      |       ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Redux.h:414:17:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::redux(const Func&) const [with BinaryOp = Eigen::internal::scalar_sum_op<double, double>; Derived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1, -1, false> >, const Eigen::Block<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false>, -1, 1, true> >; typename Eigen::internal::traits<T>::Scalar = double]’
  414 |   ThisEvaluator thisEval(derived());
      |                 ^~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Redux.h:463:25:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:311:41:   required from ‘struct Eigen::internal::unary_evaluator<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, Eigen::internal::IndexBased, double>’
  311 |     CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
      |                                         ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:90:8:   required from ‘struct Eigen::internal::evaluator<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> > >’
   90 | struct evaluator : public unary_evaluator<T>
      |        ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> > >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:739:41:   required from ‘struct Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, 1, false> >, Eigen::internal::IndexBased, Eigen::internal::IndexBased, double, double>’
  739 |     CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
      |                                         ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   [ skipping 17 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, 1, false> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, 1, false> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:739:78:   required from ‘struct Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, 1, false> >, Eigen::internal::IndexBased, Eigen::internal::IndexBased, double, double>’
  739 |     CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
      |                                                                              ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   required from ‘struct Eigen::internal::evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, 1, false> > >’
  722 | struct evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Redux.h:357:7:   required from ‘class Eigen::internal::redux_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, 1, false> > >’
  357 | class redux_evaluator : public internal::evaluator<_XprType>
      |       ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Redux.h:414:17:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::redux(const Func&) const [with BinaryOp = Eigen::internal::scalar_sum_op<double, double>; Derived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, 1, false> >; typename Eigen::internal::traits<T>::Scalar = double]’
  414 |   ThisEvaluator thisEval(derived());
      |                 ^~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Redux.h:463:25:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1, 1, false> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1, 1, false> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:739:78:   required from ‘struct Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1, 1, false> >, Eigen::internal::IndexBased, Eigen::internal::IndexBased, double, double>’
  739 |     CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
      |                                                                              ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   required from ‘struct Eigen::internal::evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1, 1, false> > >’
  722 | struct evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Redux.h:357:7:   required from ‘class Eigen::internal::redux_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1, 1, false> > >’
  357 | class redux_evaluator : public internal::evaluator<_XprType>
      |       ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Redux.h:414:17:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::redux(const Func&) const [with BinaryOp = Eigen::internal::scalar_sum_op<double, double>; Derived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> >, 1, 1, false> >; typename Eigen::internal::traits<T>::Scalar = double]’
  414 |   ThisEvaluator thisEval(derived());
      |                 ^~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Redux.h:463:25:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, false>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, false>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, false>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 19 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, true>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, true>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, true>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, true> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, true> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, true>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:223:34:   [ skipping 19 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 17 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, -1, -1> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, -1, -1> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, -1, -1> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:38:28:   required from ‘struct Eigen::internal::traits<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, const Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false> > >’
   38 |                    >::type Scalar;
      |                            ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, const Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   [ skipping 16 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, const Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, const Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, const Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, const Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, const Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false> >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:462:59:   required from ‘static void Eigen::internal::triangular_product_impl<Mode, LhsIsTriangular, Lhs, false, Rhs, false>::run(Dest&, const Lhs&, const Rhs&, const typename Dest::Scalar&) [with Dest = Eigen::Matrix<double, -1, -1, 0, -1, 3>; int Mode = 2; bool LhsIsTriangular = true; Lhs = Eigen::Matrix<double, -1, -1, 1, -1, -1>; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; typename Dest::Scalar = double]’
  462 |         dst.leftCols(diagSize) -= (rhs_alpha-RhsScalar(1))*a_lhs.leftCols(diagSize);
      |                                   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:770:14:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, -1, -1, true>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:481:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Block<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, -1, -1, true>, 2>’
  481 | class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Block<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, -1, -1, true> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Block<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, -1, -1, true> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MapBase.h:37:34:   required from ‘class Eigen::MapBase<Eigen::Block<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, -1, -1, true>, 0>’
   37 | template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
      |                                  ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:329:7:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, -1, -1, true, true>’
  329 | class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Block.h:154:7:   [ skipping 17 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseNullaryOp.h:60:7:   required from ‘class Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1> >’
   60 | class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
      |       ^~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:38:28:   required from ‘struct Eigen::internal::traits<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, -1, -1, true> > >’
   38 |                    >::type Scalar;
      |                            ^~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, -1, -1, true>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   [ skipping 16 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, -1, -1, true> >, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, -1, -1, true> > >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, -1, -1, true> > >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:148:7:   required from ‘class Eigen::CwiseBinaryOpImpl<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, -1, -1, true>, Eigen::Dense>’
  148 | class CwiseBinaryOpImpl
      |       ^~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:77:7:   required from ‘class Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, -1, -1, true> >’
   77 | class CwiseBinaryOp :
      |       ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:462:59:   required from ‘static void Eigen::internal::triangular_product_impl<Mode, LhsIsTriangular, Lhs, false, Rhs, false>::run(Dest&, const Lhs&, const Rhs&, const typename Dest::Scalar&) [with Dest = Eigen::Matrix<double, -1, -1, 0, -1, 3>; int Mode = 1; bool LhsIsTriangular = true; Lhs = const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >; Rhs = Eigen::Matrix<double, -1, -1, 0, 2, 3>; typename Dest::Scalar = double]’
  462 |         dst.leftCols(diagSize) -= (rhs_alpha-RhsScalar(1))*a_lhs.leftCols(diagSize);
      |                                   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:770:14:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1>, 0>’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:302:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1>, 1>’
  302 | class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:555:7:   required from ‘class Eigen::DenseCoeffsBase<Eigen::Matrix<double, -1, -1>, 3>’
  555 | class DenseCoeffsBase<Derived, DirectWriteAccessors>
      |       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseBase.h:41:34:   required from ‘class Eigen::DenseBase<Eigen::Matrix<double, -1, -1> >’
   41 | template<typename Derived> class DenseBase
      |                                  ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/MatrixBase.h:48:34:   required from ‘class Eigen::MatrixBase<Eigen::Matrix<double, -1, -1> >’
   48 | template<typename Derived> class MatrixBase
      |                                  ^~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/PlainObjectBase.h:98:7:   required from ‘class Eigen::PlainObjectBase<Eigen::Matrix<double, -1, -1> >’
   98 | class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
      |       ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Matrix.h:178:7:   [ skipping 16 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:56:30: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
   56 |                      >::type PacketReturnType;
      |                              ^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1, 1, false> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1, 1, false> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:739:78:   required from ‘struct Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1, 1, false> >, Eigen::internal::IndexBased, Eigen::internal::IndexBased, double, double>’
  739 |     CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
      |                                                                              ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   required from ‘struct Eigen::internal::evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1, 1, false> > >’
  722 | struct evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Redux.h:357:7:   required from ‘class Eigen::internal::redux_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1, 1, false> > >’
  357 | class redux_evaluator : public internal::evaluator<_XprType>
      |       ^~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Redux.h:414:17:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::redux(const Func&) const [with BinaryOp = Eigen::internal::scalar_sum_op<double, double>; Derived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, -1, 1, 0, 3, 1>, 1, 1, false> >, const Eigen::Block<const Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> >, 1, 1, false> >; typename Eigen::internal::traits<T>::Scalar = double]’
  414 |   ThisEvaluator thisEval(derived());
      |                 ^~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Redux.h:463:25:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘Eigen::Index Eigen::internal::first_default_aligned(const Eigen::DenseBase<Derived>&) [with Derived = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true> >; Eigen::Index = long int]’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Redux.h:243:63:   required from ‘static Eigen::internal::redux_impl<Func, Evaluator, 3, 0>::Scalar Eigen::internal::redux_impl<Func, Evaluator, 3, 0>::run(const Evaluator&, const Func&, const XprType&) [with XprType = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true> >; Func = Eigen::internal::scalar_sum_op<double, double>; Evaluator = Eigen::internal::redux_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true> > >; Scalar = double]’
  243 |     const Index alignedStart = internal::first_default_aligned(xpr);
      |                                ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Redux.h:418:56:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::redux(const Func&) const [with BinaryOp = Eigen::internal::scalar_sum_op<double, double>; Derived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true> >; typename Eigen::internal::traits<T>::Scalar = double]’
  418 |   return internal::redux_impl<Func, ThisEvaluator>::run(thisEval, func, derived());
      |          ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Redux.h:463:25:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::sum() const [with Derived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, -1, 1, true> >; typename Eigen::internal::traits<T>::Scalar = double]’
  463 |   return derived().redux(Eigen::internal::scalar_sum_op<Scalar,Scalar>());
      |          ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:618:75:   required from ‘const Eigen::internal::product_evaluator<Eigen::Product<Lhs, Rhs, 1>, ProductTag, Eigen::DenseShape, Eigen::DenseShape>::CoeffReturnType Eigen::internal::product_evaluator<Eigen::Product<Lhs, Rhs, 1>, ProductTag, Eigen::DenseShape, Eigen::DenseShape>::coeff(Eigen::Index) const [with Lhs = Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >; Rhs = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>; int ProductTag = 3; typename Eigen::internal::traits<typename Eigen::Product<Lhs, Rhs, 1>::Lhs>::Scalar = double; typename Eigen::Product<Lhs, Rhs, 1>::Lhs = Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >; typename Eigen::internal::traits<typename Eigen::Product<Lhs, Rhs, 1>::Rhs>::Scalar = double; typename Eigen::Product<Lhs, Rhs, 1>::Rhs = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>; CoeffReturnType = double; Eigen::Index = long int]’
  618 |     return (m_lhs.row(row).transpose().cwiseProduct( m_rhs.col(col) )).sum();
      |            ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:660:61:   required from ‘void Eigen::internal::generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor, Version>::assignCoeff(Eigen::Index) [with DstEvaluatorTypeT = Eigen::internal::evaluator<Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 3>, 0, Eigen::Stride<0, 0> > >; SrcEvaluatorTypeT = Eigen::internal::evaluator<Eigen::Product<Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false>, -1, -1, false>, 1> >; Functor = Eigen::internal::assign_op<double, double>; int Version = 0; Eigen::Index = long int]’
  660 |     m_functor.assignCoeff(m_dst.coeffRef(index), m_src.coeff(index));
      |                                                  ~~~~~~~~~~~^~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:518:25:   [ skipping 10 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:232:56:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  232 |       if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
      |                              ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:654:74: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  654 |   return internal::first_aligned<int(unpacket_traits<DefaultPacketType>::alignment),Derived>(m);
      |                                                                          ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘Eigen::Index Eigen::internal::first_default_aligned(const Eigen::DenseBase<Derived>&) [with Derived = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false>, const Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> > >; Eigen::Index = long int]’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Redux.h:243:63:   required from ‘static Eigen::internal::redux_impl<Func, Evaluator, 3, 0>::Scalar Eigen::internal::redux_impl<Func, Evaluator, 3, 0>::run(const Evaluator&, const Func&, const XprType&) [with XprType = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false>, const Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> > >; Func = Eigen::internal::scalar_sum_op<double, double>; Evaluator = Eigen::internal::redux_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false>, const Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> > > >; Scalar = double]’
  243 |     const Index alignedStart = internal::first_default_aligned(xpr);
      |                                ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Redux.h:418:56:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::redux(const Func&) const [with BinaryOp = Eigen::internal::scalar_sum_op<double, double>; Derived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false>, const Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> > >; typename Eigen::internal::traits<T>::Scalar = double]’
  418 |   return internal::redux_impl<Func, ThisEvaluator>::run(thisEval, func, derived());
      |          ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Redux.h:463:25:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::sum() const [with Derived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Block<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, 0, Eigen::OuterStride<> >, 1, -1, true>, 1, -1, false>, const Eigen::Transpose<const Eigen::Block<const Eigen::Map<const Eigen::Matrix<double, -1, 1>, 0, Eigen::Stride<0, 0> >, -1, 1, false> > >; typename Eigen::internal::traits<T>::Scalar = double]’
  463 |   return derived().redux(Eigen::internal::scalar_sum_op<Scalar,Scalar>());
      |          ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:137:114:   required from ‘static void Eigen::internal::triangular_matrix_vector_product<Index, Mode, LhsScalar, ConjLhs, RhsScalar, ConjRhs, 1, Version>::run(Index, Index, const LhsScalar*, Index, const RhsScalar*, Index, ResScalar*, Index, const ResScalar&) [with Index = long int; int Mode = 6; LhsScalar = double; bool ConjLhs = false; RhsScalar = double; bool ConjRhs = false; int Version = 0; ResScalar = double]’
  137 |           res.coeffRef(i) += alpha * (cjLhs.row(i).segment(s,r).cwiseProduct(cjRhs.segment(s,r).transpose())).sum();
      |                                      ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:332:12:   required from ‘static void Eigen::internal::trmv_selector<Mode, 1>::run(const Lhs&, const Rhs&, Dest&, const typename Dest::Scalar&) [with Lhs = Eigen::Transpose<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false> >; Rhs = Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >; Dest = Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >; int Mode = 6; typename Dest::Scalar = double]’
  327 |     internal::triangular_matrix_vector_product
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  328 |       <Index,Mode,
      |       ~~~~~~~~~~~~
  329 |        LhsScalar, LhsBlasTraits::NeedToConjugate,
      |        ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  330 |        RhsScalar, RhsBlasTraits::NeedToConjugate,
      |        ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  331 |        RowMajor>
      |        ~~~~~~~~~
  332 |       ::run(actualLhs.rows(),actualLhs.cols(),
      |       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  333 |             actualLhs.data(),actualLhs.outerStride(),
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  334 |             actualRhsPtr,1,
      |             ~~~~~~~~~~~~~~~
  335 |             dest.data(),dest.innerStride(),
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  336 |             actualAlpha);
      |             ~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:194:18:   [ skipping 10 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:654:74: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  654 |   return internal::first_aligned<int(unpacket_traits<DefaultPacketType>::alignment),Derived>(m);
      |                                                                          ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1043:41:   required from ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> >’
 1043 |     CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
      |                                         ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:311:41:   required from ‘struct Eigen::internal::unary_evaluator<Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> >, Eigen::internal::IndexBased, double>’
  311 |     CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
      |                                         ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:90:8:   required from ‘struct Eigen::internal::evaluator<Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >’
   90 | struct evaluator : public unary_evaluator<T>
      |        ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   [ skipping 29 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:311:41:   required from ‘struct Eigen::internal::unary_evaluator<Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> >, Eigen::internal::IndexBased, double>’
  311 |     CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
      |                                         ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:90:8:   required from ‘struct Eigen::internal::evaluator<Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >’
   90 | struct evaluator : public unary_evaluator<T>
      |        ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:739:78:   required from ‘struct Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > >, Eigen::internal::IndexBased, Eigen::internal::IndexBased, double, double>’
  739 |     CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
      |                                                                              ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   [ skipping 27 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, -1, 1, false> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, -1, 1, false> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:739:78:   required from ‘struct Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, -1, 1, false> >, Eigen::internal::IndexBased, Eigen::internal::IndexBased, double, double>’
  739 |     CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
      |                                                                              ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   required from ‘struct Eigen::internal::evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, -1, 1, false> > >’
  722 | struct evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:774:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >, -1, 1, false>; SrcXprType = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, -1, 1, false> >; Functor = sub_assign_op<double, double>]’
  774 |   SrcEvaluatorType srcEvaluator(src);
      |                    ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >, -1, 1, false>; SrcXprType = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, -1, 1, false> >; Functor = Eigen::internal::sub_assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >, -1, 1, false> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:780:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >, -1, 1, false>; SrcXprType = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, -1, 1, false> >; Functor = sub_assign_op<double, double>]’
  780 |   DstEvaluatorType dstEvaluator(dst);
      |                    ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >, -1, 1, false>; SrcXprType = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, -1, 1, false> >; Functor = Eigen::internal::sub_assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   required from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Block<Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >, -1, 1, false>; Src = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, -1, 1, false> >; Func = sub_assign_op<double, double>]’
  890 |   Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:858:27:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Block<Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >, -1, 1, false>; Src = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, -1, 1, false> >; Func = sub_assign_op<double, double>; typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type = void*; typename evaluator_traits<SrcXprType>::Shape = Eigen::DenseShape]’
  858 |   call_assignment_no_alias(dst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:164:18:   required from ‘Derived& Eigen::MatrixBase<Derived>::operator-=(const Eigen::MatrixBase<OtherDerived>&) [with OtherDerived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, 1, 0, 3, 1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 1, -1, 1, 1, 3> >, const Eigen::Transpose<const Eigen::Block<const Eigen::Block<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, 1, true>, -1, 1, false> > > >, -1, 1, false> >; Derived = Eigen::Block<Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >, -1, 1, false>]’
  164 |   call_assignment(derived(), other.derived(), internal::sub_assign_op<Scalar,typename OtherDerived::Scalar>());
      |   ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:341:27:   [ skipping 11 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >, -1, -1, false> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:774:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, false>; SrcXprType = Eigen::Block<const Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >, -1, -1, false>; Functor = sub_assign_op<double, double>]’
  774 |   SrcEvaluatorType srcEvaluator(src);
      |                    ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, false>; SrcXprType = Eigen::Block<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >, -1, -1, false>; Functor = Eigen::internal::sub_assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   required from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, false>; Src = Eigen::Block<const Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >, -1, -1, false>; Func = sub_assign_op<double, double>]’
  890 |   Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:858:27:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, false>; Src = Eigen::Block<const Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >, -1, -1, false>; Func = sub_assign_op<double, double>; typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type = void*; typename evaluator_traits<SrcXprType>::Shape = Eigen::DenseShape]’
  858 |   call_assignment_no_alias(dst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:164:18:   required from ‘Derived& Eigen::MatrixBase<Derived>::operator-=(const Eigen::MatrixBase<OtherDerived>&) [with OtherDerived = Eigen::Block<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >, -1, -1, false>; Derived = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, false>]’
  164 |   call_assignment(derived(), other.derived(), internal::sub_assign_op<Scalar,typename OtherDerived::Scalar>());
      |   ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:457:31:   [ skipping 11 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, false> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:780:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, false>; SrcXprType = Eigen::Block<const Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >, -1, -1, false>; Functor = sub_assign_op<double, double>]’
  780 |   DstEvaluatorType dstEvaluator(dst);
      |                    ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, false>; SrcXprType = Eigen::Block<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >, -1, -1, false>; Functor = Eigen::internal::sub_assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   required from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, false>; Src = Eigen::Block<const Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >, -1, -1, false>; Func = sub_assign_op<double, double>]’
  890 |   Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:858:27:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, false>; Src = Eigen::Block<const Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >, -1, -1, false>; Func = sub_assign_op<double, double>; typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type = void*; typename evaluator_traits<SrcXprType>::Shape = Eigen::DenseShape]’
  858 |   call_assignment_no_alias(dst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:164:18:   required from ‘Derived& Eigen::MatrixBase<Derived>::operator-=(const Eigen::MatrixBase<OtherDerived>&) [with OtherDerived = Eigen::Block<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 3, 3> >, const Eigen::Block<Eigen::Matrix<double, 3, 3>, -1, -1, false> >, -1, -1, false>; Derived = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, false>]’
  164 |   call_assignment(derived(), other.derived(), internal::sub_assign_op<Scalar,typename OtherDerived::Scalar>());
      |   ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:457:31:   [ skipping 11 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:739:78:   required from ‘struct Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, 2, 3> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false> >, Eigen::internal::IndexBased, Eigen::internal::IndexBased, double, double>’
  739 |     CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
      |                                                                              ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   required from ‘struct Eigen::internal::evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, 2, 3> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false> > >’
  722 | struct evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:774:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, true>; SrcXprType = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, 2, 3> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false> >; Functor = sub_assign_op<double, double>]’
  774 |   SrcEvaluatorType srcEvaluator(src);
      |                    ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, true>; SrcXprType = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, 2, 3> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false> >; Functor = Eigen::internal::sub_assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   [ skipping 14 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, true> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:780:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, true>; SrcXprType = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, 2, 3> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false> >; Functor = sub_assign_op<double, double>]’
  780 |   DstEvaluatorType dstEvaluator(dst);
      |                    ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, true>; SrcXprType = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, 2, 3> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false> >; Functor = Eigen::internal::sub_assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   required from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, true>; Src = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, 2, 3> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false> >; Func = sub_assign_op<double, double>]’
  890 |   Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:858:27:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, true>; Src = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, 2, 3> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false> >; Func = sub_assign_op<double, double>; typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type = void*; typename evaluator_traits<SrcXprType>::Shape = Eigen::DenseShape]’
  858 |   call_assignment_no_alias(dst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:164:18:   required from ‘Derived& Eigen::MatrixBase<Derived>::operator-=(const Eigen::MatrixBase<OtherDerived>&) [with OtherDerived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, 2, 3> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, -1, -1, false> >; Derived = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, 2, 3>, -1, -1, true>]’
  164 |   call_assignment(derived(), other.derived(), internal::sub_assign_op<Scalar,typename OtherDerived::Scalar>());
      |   ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:462:32:   [ skipping 11 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h: In instantiation of ‘Eigen::Index Eigen::internal::first_default_aligned(const Eigen::DenseBase<Derived>&) [with Derived = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true> >; Eigen::Index = long int]’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Redux.h:243:63:   required from ‘static Eigen::internal::redux_impl<Func, Evaluator, 3, 0>::Scalar Eigen::internal::redux_impl<Func, Evaluator, 3, 0>::run(const Evaluator&, const Func&, const XprType&) [with XprType = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true> >; Func = Eigen::internal::scalar_sum_op<double, double>; Evaluator = Eigen::internal::redux_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true> > >; Scalar = double]’
  243 |     const Index alignedStart = internal::first_default_aligned(xpr);
      |                                ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Redux.h:418:56:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::redux(const Func&) const [with BinaryOp = Eigen::internal::scalar_sum_op<double, double>; Derived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true> >; typename Eigen::internal::traits<T>::Scalar = double]’
  418 |   return internal::redux_impl<Func, ThisEvaluator>::run(thisEval, func, derived());
      |          ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/Redux.h:463:25:   required from ‘typename Eigen::internal::traits<T>::Scalar Eigen::DenseBase<Derived>::sum() const [with Derived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::Transpose<const Eigen::Block<const Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, 1, -1, true> >, const Eigen::Block<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, -1, 1, true> >; typename Eigen::internal::traits<T>::Scalar = double]’
  463 |   return derived().redux(Eigen::internal::scalar_sum_op<Scalar,Scalar>());
      |          ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/ProductEvaluators.h:618:75:   required from ‘const Eigen::internal::product_evaluator<Eigen::Product<Lhs, Rhs, 1>, ProductTag, Eigen::DenseShape, Eigen::DenseShape>::CoeffReturnType Eigen::internal::product_evaluator<Eigen::Product<Lhs, Rhs, 1>, ProductTag, Eigen::DenseShape, Eigen::DenseShape>::coeff(Eigen::Index) const [with Lhs = Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >; Rhs = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>; int ProductTag = 3; typename Eigen::internal::traits<typename Eigen::Product<Lhs, Rhs, 1>::Lhs>::Scalar = double; typename Eigen::Product<Lhs, Rhs, 1>::Lhs = Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >; typename Eigen::internal::traits<typename Eigen::Product<Lhs, Rhs, 1>::Rhs>::Scalar = double; typename Eigen::Product<Lhs, Rhs, 1>::Rhs = Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>; CoeffReturnType = double; Eigen::Index = long int]’
  618 |     return (m_lhs.row(row).transpose().cwiseProduct( m_rhs.col(col) )).sum();
      |            ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:660:61:   required from ‘void Eigen::internal::generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor, Version>::assignCoeff(Eigen::Index) [with DstEvaluatorTypeT = Eigen::internal::evaluator<Eigen::Map<Eigen::Matrix<double, 1, -1, 1, 1, 2>, 0, Eigen::Stride<0, 0> > >; SrcEvaluatorTypeT = Eigen::internal::evaluator<Eigen::Product<Eigen::Transpose<const Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, 3, 1, true>, -1, 1, false> >, Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, -1, -1, false>, 1> >; Functor = Eigen::internal::assign_op<double, double>; int Version = 0; Eigen::Index = long int]’
  660 |     m_functor.assignCoeff(m_dst.coeffRef(index), m_src.coeff(index));
      |                                                  ~~~~~~~~~~~^~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:518:25:   [ skipping 11 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:229:19:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  229 |       m_qr.compute(m_adjoint);
      |       ~~~~~~~~~~~~^~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/DenseCoeffsBase.h:654:74: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
  654 |   return internal::first_aligned<int(unpacket_traits<DefaultPacketType>::alignment),Derived>(m);
      |                                                                          ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, false> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:780:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, false>; SrcXprType = Eigen::Block<const Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, -1, -1, false>; Functor = sub_assign_op<double, double>]’
  780 |   DstEvaluatorType dstEvaluator(dst);
      |                    ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, false>; SrcXprType = Eigen::Block<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, -1, -1, false>; Functor = Eigen::internal::sub_assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   required from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, false>; Src = Eigen::Block<const Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, -1, -1, false>; Func = sub_assign_op<double, double>]’
  890 |   Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:858:27:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, false>; Src = Eigen::Block<const Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, -1, -1, false>; Func = sub_assign_op<double, double>; typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type = void*; typename evaluator_traits<SrcXprType>::Shape = Eigen::DenseShape]’
  858 |   call_assignment_no_alias(dst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:164:18:   required from ‘Derived& Eigen::MatrixBase<Derived>::operator-=(const Eigen::MatrixBase<OtherDerived>&) [with OtherDerived = Eigen::Block<const Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, const Eigen::Matrix<double, -1, -1, 0, 2, 3> >, -1, -1, false>; Derived = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, false>]’
  164 |   call_assignment(derived(), other.derived(), internal::sub_assign_op<Scalar,typename OtherDerived::Scalar>());
      |   ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:457:31:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:739:78:   required from ‘struct Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, const Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false> >, Eigen::internal::IndexBased, Eigen::internal::IndexBased, double, double>’
  739 |     CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
      |                                                                              ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   required from ‘struct Eigen::internal::evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, const Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false> > >’
  722 | struct evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:774:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, true>; SrcXprType = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, const Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false> >; Functor = sub_assign_op<double, double>]’
  774 |   SrcEvaluatorType srcEvaluator(src);
      |                    ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, true>; SrcXprType = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, const Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false> >; Functor = Eigen::internal::sub_assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   [ skipping 18 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, true> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:780:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, true>; SrcXprType = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, const Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false> >; Functor = sub_assign_op<double, double>]’
  780 |   DstEvaluatorType dstEvaluator(dst);
      |                    ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, true>; SrcXprType = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, const Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false> >; Functor = Eigen::internal::sub_assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   required from ‘void Eigen::internal::call_assignment_no_alias(Dst&, const Src&, const Func&) [with Dst = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, true>; Src = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, const Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false> >; Func = sub_assign_op<double, double>]’
  890 |   Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:858:27:   required from ‘void Eigen::internal::call_assignment(Dst&, const Src&, const Func&, typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type) [with Dst = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, true>; Src = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, const Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false> >; Func = sub_assign_op<double, double>; typename enable_if<(! evaluator_assume_aliasing<Src>::value), void*>::type = void*; typename evaluator_traits<SrcXprType>::Shape = Eigen::DenseShape]’
  858 |   call_assignment_no_alias(dst, src, func);
      |   ~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CwiseBinaryOp.h:164:18:   required from ‘Derived& Eigen::MatrixBase<Derived>::operator-=(const Eigen::MatrixBase<OtherDerived>&) [with OtherDerived = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, const Eigen::Block<const Eigen::Matrix<double, -1, -1, 1, -1, -1>, -1, -1, false> >; Derived = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, true>]’
  164 |   call_assignment(derived(), other.derived(), internal::sub_assign_op<Scalar,typename OtherDerived::Scalar>());
      |   ~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixMatrix.h:462:32:   [ skipping 15 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h: In instantiation of ‘struct Eigen::internal::evaluator<Eigen::Block<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, -1, -1, true> >’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:100:8:   required from ‘struct Eigen::internal::evaluator<const Eigen::Block<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, -1, -1, true> >’
  100 | struct evaluator<const T>
      |        ^~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:739:78:   required from ‘struct Eigen::internal::binary_evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, -1, -1, true> >, Eigen::internal::IndexBased, Eigen::internal::IndexBased, double, double>’
  739 |     CoeffReadCost = int(evaluator<Lhs>::CoeffReadCost) + int(evaluator<Rhs>::CoeffReadCost) + int(functor_traits<BinaryOp>::Cost),
      |                                                                              ^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:722:8:   required from ‘struct Eigen::internal::evaluator<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, -1, -1, true> > >’
  722 | struct evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
      |        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:774:20:   required from ‘void Eigen::internal::call_dense_assignment_loop(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, true>; SrcXprType = Eigen::CwiseBinaryOp<scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, -1, -1, true> >; Functor = sub_assign_op<double, double>]’
  774 |   SrcEvaluatorType srcEvaluator(src);
      |                    ^~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:954:31:   required from ‘static void Eigen::internal::Assignment<DstXprType, SrcXprType, Functor, Eigen::internal::Dense2Dense, Weak>::run(DstXprType&, const SrcXprType&, const Functor&) [with DstXprType = Eigen::Block<Eigen::Matrix<double, -1, -1, 0, -1, 3>, -1, -1, true>; SrcXprType = Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, const Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, -1, -1> >, const Eigen::Block<const Eigen::Transpose<const Eigen::Matrix<double, -1, -1, 1, -1, -1> >, -1, -1, true> >; Functor = Eigen::internal::sub_assign_op<double, double>; Weak = void]’
  954 |     call_dense_assignment_loop(dst, src, func);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/AssignEvaluator.h:890:49:   [ skipping 18 instantiation contexts, use -ftemplate-backtrace-limit=0 to disable ]
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:236:47:   required from ‘bool Eigen::internal::qr_preconditioner_impl<MatrixType, 2, 0, true>::run(Eigen::JacobiSVD<MatrixType, 2>&, const MatrixType&) [with MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  236 |         m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
      |         ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:692:30:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>& Eigen::JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  692 |     m_qr_precond_morecols.run(*this, m_scaledMatrix);
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/SVD/JacobiSVD.h:549:14:   required from ‘Eigen::JacobiSVD<MatrixType, QRPreconditioner>::JacobiSVD(const MatrixType&, unsigned int) [with _MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>; int QRPreconditioner = 2; MatrixType = Eigen::Matrix<double, 2, 3, 0, 2, 3>]’
  549 |       compute(matrix, computationOptions);
      |       ~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:657:36:   required from ‘Derived& Eigen::QuaternionBase<Derived>::setFromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; Derived = Eigen::Quaternion<double>]’
  657 |     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
      |                                    ^~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Geometry/Quaternion.h:708:27:   required from ‘static Eigen::Quaternion<_Scalar, _Options> Eigen::Quaternion<Scalar, Options>::FromTwoVectors(const Eigen::MatrixBase<OtherDerived>&, const Eigen::MatrixBase<OtherDerived>&) [with Derived1 = Eigen::Matrix<double, -1, 1>; Derived2 = Eigen::Matrix<double, -1, 1>; _Scalar = double; int _Options = 0]’
  708 |     quat.setFromTwoVectors(a, b);
      |     ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
imuf.cpp:84:63:   required from here
   84 |   Quaternion<double> qAdj = Quaternion<double>::FromTwoVectors(accWorld, g);
      |                             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/CoreEvaluators.h:1071:54: warning: ignoring attributes on template argument ‘Eigen::internal::packet_traits<double>::type’ {aka ‘__m128d’} [-Wignored-attributes]
 1071 |     PacketAlignment = unpacket_traits<PacketScalar>::alignment,
      |                                                      ^~~~~~~~~
In file included from /usr/local/lib/R/library/RcppEigen/include/Eigen/Core:341:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h: In function ‘Eigen::internal::trmv_selector<6, 1>::run<Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> const, -1, -1, false> const>, Eigen::Transpose<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 1, -1, 1, 1, 3> const> const, Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> const, -1, 1, true> const, -1, 1, false> const> const> const>, Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> > >(Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> const, -1, -1, false> const> const&, Eigen::Transpose<Eigen::CwiseBinaryOp<Eigen::internal::scalar_product_op<double, double>, Eigen::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, Eigen::Matrix<double, 1, -1, 1, 1, 3> const> const, Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> const, -1, 1, true> const, -1, 1, false> const> const> const> const&, Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >&, Eigen::Transpose<Eigen::Block<Eigen::Block<Eigen::Matrix<double, -1, -1, 1, -1, -1>, 1, -1, true>, 1, -1, false> >::Scalar const&)void [clone .isra.0]’:
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:332:12: warning: ‘result_41’ may be used uninitialized [-Wmaybe-uninitialized]
  327 |     internal::triangular_matrix_vector_product
      |     ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  328 |       <Index,Mode,
      |       ~~~~~~~~~~~~
  329 |        LhsScalar, LhsBlasTraits::NeedToConjugate,
      |        ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  330 |        RhsScalar, RhsBlasTraits::NeedToConjugate,
      |        ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  331 |        RowMajor>
      |        ~~~~~~~~~
  332 |       ::run(actualLhs.rows(),actualLhs.cols(),
      |       ~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  333 |             actualLhs.data(),actualLhs.outerStride(),
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  334 |             actualRhsPtr,1,
      |             ~~~~~~~~~~~~~~~
  335 |             dest.data(),dest.innerStride(),
      |             ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
  336 |             actualAlpha);
      |             ~~~~~~~~~~~~
/usr/local/lib/R/library/RcppEigen/include/Eigen/src/Core/products/TriangularMatrixVector.h:105:24: note: by argument 5 of type ‘const double *’ to ‘Eigen::internal::triangular_matrix_vector_product<long, 6, double, false, double, false, 1, 0>::run(long, long, double const*, long, double const*, long, double*, long, double const&)’ declared here
  105 | EIGEN_DONT_INLINE void triangular_matrix_vector_product<Index,Mode,LhsScalar,ConjLhs,RhsScalar,ConjRhs,RowMajor,Version>
      |                        ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
g++ -std=gnu++17 -shared -L/usr/lib64/R/lib -Wl,-z,relro -Wl,--as-needed -Wl,-z,pack-relative-relocs -Wl,-z,now -specs=/usr/lib/rpm/redhat/redhat-hardened-ld -specs=/usr/lib/rpm/redhat/redhat-annobin-cc1 -Wl,--build-id=sha1 -o imuf.so RcppExports.o imuf.o -L/usr/lib64/R/lib -lR
installing to /builddir/build/BUILD/R-CRAN-imuf-0.3.0-build/BUILDROOT/usr/local/lib/R/library/00LOCK-imuf/00new/imuf/libs
** R
** byte-compile and prepare package for lazy loading
** help
*** installing help indices
  converting help for package ‘imuf’
    finding HTML links ... done
    compUpdate                              html  
    imuf-package                            html  
*** copying figures
** building package indices
** testing if installed package can be loaded from temporary location
** checking absolute paths in shared objects and dynamic libraries
** testing if installed package can be loaded from final location
** testing if installed package keeps a record of temporary installation path
* DONE (imuf)
+ test -d imuf/src
+ cd imuf/src
+ rm -f RcppExports.o imuf.o imuf.so
+ rm -f /builddir/build/BUILD/R-CRAN-imuf-0.3.0-build/BUILDROOT/usr/local/lib/R/library/R.css
+ find /builddir/build/BUILD/R-CRAN-imuf-0.3.0-build/BUILDROOT/usr/local/lib/R/library -type f -exec sed -i s@/builddir/build/BUILD/R-CRAN-imuf-0.3.0-build/BUILDROOT@@g '{}' ';'
+ /usr/bin/find-debuginfo -j2 --strict-build-id -m -i --build-id-seed 0.3.0-1.fc41.copr8224464 --unique-debug-suffix -0.3.0-1.fc41.copr8224464.x86_64 --unique-debug-src-base R-CRAN-imuf-0.3.0-1.fc41.copr8224464.x86_64 --run-dwz --dwz-low-mem-die-limit 10000000 --dwz-max-die-limit 110000000 -S debugsourcefiles.list /builddir/build/BUILD/R-CRAN-imuf-0.3.0-build/imuf
find-debuginfo: starting
Extracting debug info from 1 files
DWARF-compressing 1 files
sepdebugcrcfix: Updated 1 CRC32s, 0 CRC32s did match.
Creating .debug symlinks for symlinks to ELF files
Copying sources found by 'debugedit -l' to /usr/src/debug/R-CRAN-imuf-0.3.0-1.fc41.copr8224464.x86_64
find-debuginfo: done
+ /usr/lib/rpm/check-buildroot
+ /usr/lib/rpm/redhat/brp-ldconfig
+ /usr/lib/rpm/brp-compress
+ /usr/lib/rpm/redhat/brp-strip-lto /usr/bin/strip
+ /usr/lib/rpm/brp-strip-static-archive /usr/bin/strip
+ /usr/lib/rpm/redhat/brp-mangle-shebangs
+ /usr/lib/rpm/brp-remove-la-files
+ env /usr/lib/rpm/redhat/brp-python-bytecompile '' 1 0 -j2
+ /usr/lib/rpm/redhat/brp-python-hardlink
+ /usr/bin/add-determinism --brp -j2 /builddir/build/BUILD/R-CRAN-imuf-0.3.0-build/BUILDROOT
Scanned 27 directories and 30 files,
               processed 6 inodes,
               0 modified (0 replaced + 0 rewritten),
               0 unsupported format, 0 errors
Reading /builddir/build/BUILD/R-CRAN-imuf-0.3.0-build/SPECPARTS/rpm-debuginfo.specpart
Processing files: R-CRAN-imuf-0.3.0-1.fc41.copr8224464.x86_64
Provides: R-CRAN-imuf = 0.3.0-1.fc41.copr8224464 R-CRAN-imuf(x86-64) = 0.3.0-1.fc41.copr8224464
Requires(rpmlib): rpmlib(CompressedFileNames) <= 3.0.4-1 rpmlib(FileDigests) <= 4.6.0-1 rpmlib(PayloadFilesHavePrefix) <= 4.0-1
Requires: libR.so()(64bit) libc.so.6()(64bit) libc.so.6(GLIBC_2.11)(64bit) libc.so.6(GLIBC_2.14)(64bit) libc.so.6(GLIBC_2.2.5)(64bit) libc.so.6(GLIBC_2.4)(64bit) libc.so.6(GLIBC_ABI_DT_RELR)(64bit) libgcc_s.so.1()(64bit) libgcc_s.so.1(GCC_3.0)(64bit) libgcc_s.so.1(GCC_3.3.1)(64bit) libm.so.6()(64bit) libm.so.6(GLIBC_2.2.5)(64bit) libstdc++.so.6()(64bit) libstdc++.so.6(CXXABI_1.3)(64bit) libstdc++.so.6(CXXABI_1.3.15)(64bit) libstdc++.so.6(CXXABI_1.3.9)(64bit) libstdc++.so.6(GLIBCXX_3.4)(64bit) libstdc++.so.6(GLIBCXX_3.4.11)(64bit) libstdc++.so.6(GLIBCXX_3.4.20)(64bit) libstdc++.so.6(GLIBCXX_3.4.21)(64bit) libstdc++.so.6(GLIBCXX_3.4.26)(64bit) libstdc++.so.6(GLIBCXX_3.4.30)(64bit) libstdc++.so.6(GLIBCXX_3.4.32)(64bit) libstdc++.so.6(GLIBCXX_3.4.9)(64bit) rtld(GNU_HASH)
Processing files: R-CRAN-imuf-debugsource-0.3.0-1.fc41.copr8224464.x86_64
Provides: R-CRAN-imuf-debugsource = 0.3.0-1.fc41.copr8224464 R-CRAN-imuf-debugsource(x86-64) = 0.3.0-1.fc41.copr8224464
Requires(rpmlib): rpmlib(CompressedFileNames) <= 3.0.4-1 rpmlib(FileDigests) <= 4.6.0-1 rpmlib(PayloadFilesHavePrefix) <= 4.0-1
Processing files: R-CRAN-imuf-debuginfo-0.3.0-1.fc41.copr8224464.x86_64
Provides: R-CRAN-imuf-debuginfo = 0.3.0-1.fc41.copr8224464 R-CRAN-imuf-debuginfo(x86-64) = 0.3.0-1.fc41.copr8224464 debuginfo(build-id) = a6f739c02e74ad65a911ce18986bccaa0dd05fd5
Requires(rpmlib): rpmlib(CompressedFileNames) <= 3.0.4-1 rpmlib(FileDigests) <= 4.6.0-1 rpmlib(PayloadFilesHavePrefix) <= 4.0-1
Recommends: R-CRAN-imuf-debugsource(x86-64) = 0.3.0-1.fc41.copr8224464
Checking for unpackaged file(s): /usr/lib/rpm/check-files /builddir/build/BUILD/R-CRAN-imuf-0.3.0-build/BUILDROOT
Wrote: /builddir/build/RPMS/R-CRAN-imuf-0.3.0-1.fc41.copr8224464.x86_64.rpm
Wrote: /builddir/build/RPMS/R-CRAN-imuf-debugsource-0.3.0-1.fc41.copr8224464.x86_64.rpm
Wrote: /builddir/build/RPMS/R-CRAN-imuf-debuginfo-0.3.0-1.fc41.copr8224464.x86_64.rpm
Executing(rmbuild): /bin/sh -e /var/tmp/rpm-tmp.7e0N5u
+ umask 022
+ cd /builddir/build/BUILD/R-CRAN-imuf-0.3.0-build
+ test -d /builddir/build/BUILD/R-CRAN-imuf-0.3.0-build
+ /usr/bin/chmod -Rf a+rX,u+w,g-w,o-w /builddir/build/BUILD/R-CRAN-imuf-0.3.0-build
+ rm -rf /builddir/build/BUILD/R-CRAN-imuf-0.3.0-build
+ RPM_EC=0
++ jobs -p
+ exit 0

RPM build warnings:
    %source_date_epoch_from_changelog is set, but %changelog has no entries to take a date from
Finish: rpmbuild R-CRAN-imuf-0.3.0-1.fc41.copr8224464.src.rpm
Finish: build phase for R-CRAN-imuf-0.3.0-1.fc41.copr8224464.src.rpm
INFO: chroot_scan: 1 files copied to /var/lib/copr-rpmbuild/results/chroot_scan
INFO: /var/lib/mock/fedora-41-x86_64-1730943816.197371/root/var/log/dnf5.log
INFO: chroot_scan: creating tarball /var/lib/copr-rpmbuild/results/chroot_scan.tar.gz
/bin/tar: Removing leading `/' from member names
INFO: Done(/var/lib/copr-rpmbuild/results/R-CRAN-imuf-0.3.0-1.fc41.copr8224464.src.rpm) Config(child) 0 minutes 52 seconds
INFO: Results and/or logs in: /var/lib/copr-rpmbuild/results
INFO: Cleaning up build root ('cleanup_on_success=True')
Start: clean chroot
INFO: unmounting tmpfs.
Finish: clean chroot
Finish: run
Running RPMResults tool
Package info:
{
    "packages": [
        {
            "name": "R-CRAN-imuf",
            "epoch": null,
            "version": "0.3.0",
            "release": "1.fc41.copr8224464",
            "arch": "src"
        },
        {
            "name": "R-CRAN-imuf-debuginfo",
            "epoch": null,
            "version": "0.3.0",
            "release": "1.fc41.copr8224464",
            "arch": "x86_64"
        },
        {
            "name": "R-CRAN-imuf",
            "epoch": null,
            "version": "0.3.0",
            "release": "1.fc41.copr8224464",
            "arch": "x86_64"
        },
        {
            "name": "R-CRAN-imuf-debugsource",
            "epoch": null,
            "version": "0.3.0",
            "release": "1.fc41.copr8224464",
            "arch": "x86_64"
        }
    ]
}
RPMResults finished