Warning: Permanently added '98.81.11.89' (ED25519) to the list of known hosts.
Running (timeout=18000): unbuffer mock --spec /var/lib/copr-rpmbuild/workspace/workdir-k5zzhp5r/R-CRAN-imuf/R-CRAN-imuf.spec --sources /var/lib/copr-rpmbuild/workspace/workdir-k5zzhp5r/R-CRAN-imuf --resultdir /var/lib/copr-rpmbuild/results --uniqueext 1736992065.645037 -r /var/lib/copr-rpmbuild/results/configs/child.cfg
INFO: mock.py version 6.0 starting (python version = 3.13.0, NVR = mock-6.0-1.fc41), args: /usr/libexec/mock/mock --spec /var/lib/copr-rpmbuild/workspace/workdir-k5zzhp5r/R-CRAN-imuf/R-CRAN-imuf.spec --sources /var/lib/copr-rpmbuild/workspace/workdir-k5zzhp5r/R-CRAN-imuf --resultdir /var/lib/copr-rpmbuild/results --uniqueext 1736992065.645037 -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-k5zzhp5r/R-CRAN-imuf/R-CRAN-imuf.spec)  Config(fedora-rawhide-x86_64)
Start: clean chroot
Finish: clean chroot
Mock Version: 6.0
INFO: Mock Version: 6.0
Start: chroot init
INFO: mounting tmpfs at /var/lib/mock/fedora-rawhide-x86_64-1736992065.645037/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-4.20.0-1.fc41.x86_64
  rpm-sequoia-1.7.0-2.fc41.x86_64
  python3-dnf-4.22.0-1.fc41.noarch
  python3-dnf-plugins-core-4.10.0-1.fc41.noarch
  dnf5-5.2.8.1-3.fc41.x86_64
  dnf5-plugins-5.2.8.1-3.fc41.x86_64
Start: installing minimal buildroot with dnf5
Updating and loading repositories:
 fedora                                 100% | 136.3 KiB/s |  25.1 KiB |  00m00s
 Copr repository                        100% | 102.6 KiB/s |   1.5 KiB |  00m00s
 Copr repository                        100% | 107.0 MiB/s |  12.4 MiB |  00m00s
Repositories loaded.
Package                            Arch   Version                    Repository      Size
Installing group/module packages:
 bash                              x86_64 5.2.37-1.fc42              fedora       8.2 MiB
 bzip2                             x86_64 1.0.8-19.fc41              fedora      95.7 KiB
 coreutils                         x86_64 9.5-12.fc42                fedora       5.5 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 42-0.13                    fedora      19.8 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 2.40.9000-28.fc42          fedora       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 7.2-1.fc42                 fedora     355.1 KiB
 patch                             x86_64 2.7.6-25.fc41              fedora     266.7 KiB
 redhat-rpm-config                 noarch 300-1.fc42                 fedora     186.8 KiB
 rpm-build                         x86_64 4.20.0-5.fc42              fedora     185.8 KiB
 sed                               x86_64 4.9-3.fc41                 fedora     861.5 KiB
 shadow-utils                      x86_64 2:4.17.0-3.fc42            fedora       4.0 MiB
 tar                               x86_64 2:1.35-4.fc41              fedora       2.9 MiB
 unzip                             x86_64 6.0-65.fc42                fedora     398.2 KiB
 util-linux                        x86_64 2.40.2-9.fc42              fedora       3.5 MiB
 which                             x86_64 2.21-42.fc41               fedora      80.2 KiB
 xz                                x86_64 1:5.6.3-2.fc42             fedora       1.2 MiB
Installing dependencies:
 add-determinism                   x86_64 0.5.0-1.fc42               fedora       2.4 MiB
 alternatives                      x86_64 1.31-2.fc42                fedora      64.8 KiB
 ansible-srpm-macros               noarch 1-16.fc41                  fedora      35.7 KiB
 audit-libs                        x86_64 4.0.3-1.fc42               fedora     351.3 KiB
 authselect                        x86_64 1.5.0-8.fc42               fedora     157.5 KiB
 authselect-libs                   x86_64 1.5.0-8.fc42               fedora     822.2 KiB
 basesystem                        noarch 11-21.fc41                 fedora       0.0   B
 binutils                          x86_64 2.43.50-9.fc42             fedora      25.8 MiB
 build-reproducibility-srpm-macros noarch 0.5.0-1.fc42               fedora     735.0   B
 bzip2-libs                        x86_64 1.0.8-19.fc41              fedora      80.7 KiB
 ca-certificates                   noarch 2024.2.69_v8.0.401-4.fc42  fedora       2.6 MiB
 coreutils-common                  x86_64 9.5-12.fc42                fedora      11.2 MiB
 cracklib                          x86_64 2.9.11-6.fc41              fedora     238.9 KiB
 crypto-policies                   noarch 20241128-1.gitbb7b0b0.fc42 fedora     137.3 KiB
 curl                              x86_64 8.11.1-2.fc42              fedora     452.0 KiB
 cyrus-sasl-lib                    x86_64 2.1.28-28.fc42             fedora       2.3 MiB
 debugedit                         x86_64 5.1-2.fc42                 fedora     200.3 KiB
 dwz                               x86_64 0.15-8.fc42                fedora     299.2 KiB
 ed                                x86_64 1.21-1.fc42                fedora     144.8 KiB
 efi-srpm-macros                   noarch 5-13.fc42                  fedora      40.2 KiB
 elfutils                          x86_64 0.192-7.fc42               fedora       2.6 MiB
 elfutils-debuginfod-client        x86_64 0.192-7.fc42               fedora      81.4 KiB
 elfutils-default-yama-scope       noarch 0.192-7.fc42               fedora       1.8 KiB
 elfutils-libelf                   x86_64 0.192-7.fc42               fedora       1.2 MiB
 elfutils-libs                     x86_64 0.192-7.fc42               fedora     662.9 KiB
 fedora-gpg-keys                   noarch 42-0.3                     fedora     126.4 KiB
 fedora-release                    noarch 42-0.13                    fedora       0.0   B
 fedora-release-identity-basic     noarch 42-0.13                    fedora     719.0   B
 fedora-repos                      noarch 42-0.3                     fedora       4.9 KiB
 fedora-repos-rawhide              noarch 42-0.3                     fedora       2.2 KiB
 file                              x86_64 5.45-8.fc42                fedora     103.7 KiB
 file-libs                         x86_64 5.45-8.fc42                fedora       9.9 MiB
 filesystem                        x86_64 3.18-30.fc42               fedora     112.0   B
 filesystem-srpm-macros            noarch 3.18-30.fc42               fedora      36.1 KiB
 fonts-srpm-macros                 noarch 1:2.0.5-17.fc41            fedora      55.8 KiB
 forge-srpm-macros                 noarch 0.4.0-1.fc42               fedora      38.9 KiB
 fpc-srpm-macros                   noarch 1.3-13.fc41                fedora     144.0   B
 gdb-minimal                       x86_64 15.2-4.fc42                fedora      12.7 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 1.9.2-1.fc42               fedora     779.0   B
 glibc                             x86_64 2.40.9000-28.fc42          fedora       6.7 MiB
 glibc-common                      x86_64 2.40.9000-28.fc42          fedora       1.0 MiB
 glibc-gconv-extra                 x86_64 2.40.9000-28.fc42          fedora       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 3.6.0-5.fc42               fedora      60.8 KiB
 jansson                           x86_64 2.14-1.fc42                fedora      93.1 KiB
 json-c                            x86_64 0.18-1.fc42                fedora      83.3 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.fc42              fedora       2.3 MiB
 libacl                            x86_64 2.3.2-2.fc41               fedora      40.0 KiB
 libarchive                        x86_64 3.7.7-1.fc42               fedora     932.3 KiB
 libattr                           x86_64 2.5.2-4.fc41               fedora      28.5 KiB
 libblkid                          x86_64 2.40.2-9.fc42              fedora     257.2 KiB
 libbrotli                         x86_64 1.1.0-5.fc41               fedora     837.6 KiB
 libcap                            x86_64 2.71-2.fc42                fedora     223.4 KiB
 libcap-ng                         x86_64 0.8.5-3.fc41               fedora      69.2 KiB
 libcom_err                        x86_64 1.47.2-2.fc42              fedora      65.9 KiB
 libcurl                           x86_64 8.11.1-2.fc42              fedora     817.3 KiB
 libeconf                          x86_64 0.7.5-1.fc42               fedora      66.7 KiB
 libevent                          x86_64 2.1.12-14.fc41             fedora     895.7 KiB
 libfdisk                          x86_64 2.40.2-9.fc42              fedora     368.4 KiB
 libffi                            x86_64 3.4.6-3.fc42               fedora      86.4 KiB
 libgcc                            x86_64 14.2.1-6.fc42              fedora     270.6 KiB
 libgomp                           x86_64 14.2.1-6.fc42              fedora     519.8 KiB
 libidn2                           x86_64 2.3.7-2.fc41               fedora     329.1 KiB
 libmount                          x86_64 2.40.2-9.fc42              fedora     352.8 KiB
 libnghttp2                        x86_64 1.64.0-1.fc42              fedora     174.5 KiB
 libnsl2                           x86_64 2.0.1-2.fc41               fedora      57.9 KiB
 libpkgconf                        x86_64 2.3.0-1.fc42               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 3.8-0.rc3.1.fc42.2         fedora     191.6 KiB
 libsemanage                       x86_64 3.8-0.rc3.1.fc42           fedora     305.3 KiB
 libsepol                          x86_64 3.8-0.rc3.1.fc42           fedora     812.3 KiB
 libsmartcols                      x86_64 2.40.2-9.fc42              fedora     176.2 KiB
 libssh                            x86_64 0.11.1-1.fc42              fedora     569.6 KiB
 libssh-config                     noarch 0.11.1-1.fc42              fedora     277.0   B
 libstdc++                         x86_64 14.2.1-6.fc42              fedora       2.8 MiB
 libtasn1                          x86_64 4.19.0-9.fc41              fedora     175.7 KiB
 libtirpc                          x86_64 1.3.6-1.rc3.fc42           fedora     197.6 KiB
 libtool-ltdl                      x86_64 2.5.4-2.fc42               fedora      68.1 KiB
 libunistring                      x86_64 1.1-8.fc41                 fedora       1.7 MiB
 libuuid                           x86_64 2.40.2-9.fc42              fedora      39.9 KiB
 libverto                          x86_64 0.3.2-9.fc41               fedora      29.5 KiB
 libxcrypt                         x86_64 4.4.38-1.fc42              fedora     269.9 KiB
 libxml2                           x86_64 2.12.9-1.fc42              fedora       1.7 MiB
 libzstd                           x86_64 1.5.6-2.fc41               fedora     795.9 KiB
 lua-libs                          x86_64 5.4.7-1.fc42               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 2.6.9-1.fc42               fedora     648.5 KiB
 openssl-libs                      x86_64 1:3.2.2-11.fc42            fedora       7.7 MiB
 p11-kit                           x86_64 0.25.5-4.fc42              fedora       2.2 MiB
 p11-kit-trust                     x86_64 0.25.5-4.fc42              fedora     403.8 KiB
 package-notes-srpm-macros         noarch 0.5-12.fc41                fedora       1.6 KiB
 pam                               x86_64 1.7.0-3.fc42               fedora       1.8 MiB
 pam-libs                          x86_64 1.7.0-3.fc42               fedora     139.4 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.fc42               fedora      88.6 KiB
 pkgconf-m4                        noarch 2.3.0-1.fc42               fedora      14.4 KiB
 pkgconf-pkg-config                x86_64 2.3.0-1.fc42               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 1.16.4-1.fc42              fedora       1.9 KiB
 python-srpm-macros                noarch 3.13-3.fc41                fedora      51.0 KiB
 qt5-srpm-macros                   noarch 5.15.15-1.fc42             fedora     500.0   B
 qt6-srpm-macros                   noarch 6.8.1-4.fc42               fedora     456.0   B
 readline                          x86_64 8.2-11.fc42                fedora     493.1 KiB
 rpm                               x86_64 4.20.0-5.fc42              fedora       3.1 MiB
 rpm-build-libs                    x86_64 4.20.0-5.fc42              fedora     204.1 KiB
 rpm-libs                          x86_64 4.20.0-5.fc42              fedora     710.4 KiB
 rpm-sequoia                       x86_64 1.7.0-3.fc42               fedora       2.3 MiB
 rust-srpm-macros                  noarch 26.3-3.fc42                fedora       4.8 KiB
 setup                             noarch 2.15.0-9.fc42              fedora     720.7 KiB
 sqlite-libs                       x86_64 3.47.2-1.fc42              fedora       1.4 MiB
 systemd-libs                      x86_64 257.2-7.fc42               fedora       2.2 MiB
 util-linux-core                   x86_64 2.40.2-9.fc42              fedora       1.5 MiB
 xxhash-libs                       x86_64 0.8.3-1.fc42               fedora      88.5 KiB
 xz-libs                           x86_64 1:5.6.3-2.fc42             fedora     218.4 KiB
 zig-srpm-macros                   noarch 1-3.fc41                   fedora       1.1 KiB
 zip                               x86_64 3.0-42.fc42                fedora     695.9 KiB
 zlib-ng-compat                    x86_64 2.2.3-1.fc42               fedora     138.5 KiB
 zstd                              x86_64 1.5.6-2.fc41               fedora       1.7 MiB
Installing groups:
 Buildsystem building group                                                              

Transaction Summary:
 Installing:       155 packages

Total size of inbound packages is 52 MiB. Need to download 0 B.
After this operation, 178 MiB extra will be used (install 178 MiB, remove 0 B).
[1/1] tar-2:1.35-4.fc41.x86_64          100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[1/1] Total                             100% |   0.0   B/s |   0.0   B |  00m00s
[1/2] bzip2-0:1.0.8-19.fc41.x86_64      100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[2/2] Total                             100% |   0.0   B/s |   0.0   B |  00m00s
[1/3] redhat-rpm-config-0:300-1.fc42.no 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[3/3] Total                             100% |   0.0   B/s |   0.0   B |  00m00s
[1/4] rpm-build-0:4.20.0-5.fc42.x86_64  100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[4/4] Total                             100% |   0.0   B/s |   0.0   B |  00m00s
[1/5] unzip-0:6.0-65.fc42.x86_64        100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[5/5] Total                             100% |   0.0   B/s |   0.0   B |  00m00s
[1/6] cpio-0:2.15-2.fc41.x86_64         100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[6/6] Total                             100% |   0.0   B/s |   0.0   B |  00m00s
[1/7] which-0:2.21-42.fc41.x86_64       100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[7/7] Total                             100% |   0.0   B/s |   0.0   B |  00m00s
[1/8] bash-0:5.2.37-1.fc42.x86_64       100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[8/8] Total                             100% |   0.0   B/s |   0.0   B |  00m00s
[1/9] coreutils-0:9.5-12.fc42.x86_64    100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[9/9] Total                             100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/10] grep-0:3.11-9.fc41.x86_64       100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[10/10] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/11] patch-0:2.7.6-25.fc41.x86_64    100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[11/11] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/12] sed-0:4.9-3.fc41.x86_64         100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[12/12] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/13] shadow-utils-2:4.17.0-3.fc42.x8 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[13/13] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/14] diffutils-0:3.10-8.fc41.x86_64  100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[14/14] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/15] fedora-release-common-0:42-0.13 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[15/15] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/16] findutils-1:4.10.0-4.fc41.x86_6 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[16/16] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/17] glibc-minimal-langpack-0:2.40.9 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[17/17] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/18] gzip-0:1.13-2.fc41.x86_64       100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[18/18] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/19] info-0:7.2-1.fc42.x86_64        100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[19/19] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/20] xz-1:5.6.3-2.fc42.x86_64        100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[20/20] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/21] util-linux-0:2.40.2-9.fc42.x86_ 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[21/21] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/22] gawk-0:5.3.0-4.fc41.x86_64      100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[22/22] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/23] glibc-0:2.40.9000-28.fc42.x86_6 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[23/23] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/24] libacl-0:2.3.2-2.fc41.x86_64    100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[24/24] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/25] libselinux-0:3.8-0.rc3.1.fc42.2 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[25/25] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/26] bzip2-libs-0:1.0.8-19.fc41.x86_ 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[26/26] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/27] ansible-srpm-macros-0:1-16.fc41 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[27/27] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/28] build-reproducibility-srpm-macr 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[28/28] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/29] dwz-0:0.15-8.fc42.x86_64        100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[29/29] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/30] efi-srpm-macros-0:5-13.fc42.noa 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[30/30] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/31] file-0:5.45-8.fc42.x86_64       100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[31/31] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/32] filesystem-srpm-macros-0:3.18-3 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[32/32] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/33] fonts-srpm-macros-1:2.0.5-17.fc 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[33/33] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/34] forge-srpm-macros-0:0.4.0-1.fc4 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[34/34] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/35] fpc-srpm-macros-0:1.3-13.fc41.n 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[35/35] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/36] ghc-srpm-macros-0:1.9.2-1.fc42. 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[36/36] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/37] gnat-srpm-macros-0:6-6.fc41.noa 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[37/37] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/38] go-srpm-macros-0:3.6.0-5.fc42.n 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[38/38] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/39] kernel-srpm-macros-0:1.0-24.fc4 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[39/39] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/40] lua-srpm-macros-0:1-14.fc41.noa 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[40/40] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/41] ocaml-srpm-macros-0:10-3.fc41.n 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[41/41] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/42] openblas-srpm-macros-0:2-18.fc4 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[42/42] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/43] package-notes-srpm-macros-0:0.5 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[43/43] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/44] perl-srpm-macros-0:1-56.fc41.no 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[44/44] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/45] pyproject-srpm-macros-0:1.16.4- 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[45/45] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/46] python-srpm-macros-0:3.13-3.fc4 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[46/46] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/47] qt5-srpm-macros-0:5.15.15-1.fc4 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[47/47] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/48] qt6-srpm-macros-0:6.8.1-4.fc42. 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[48/48] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/49] rpm-0:4.20.0-5.fc42.x86_64      100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[49/49] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/50] rust-srpm-macros-0:26.3-3.fc42. 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[50/50] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/51] zig-srpm-macros-0:1-3.fc41.noar 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[51/51] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/52] zip-0:3.0-42.fc42.x86_64        100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[52/52] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/53] debugedit-0:5.1-2.fc42.x86_64   100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[53/53] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/54] elfutils-0:0.192-7.fc42.x86_64  100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[54/54] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/55] elfutils-libelf-0:0.192-7.fc42. 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[55/55] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/56] libarchive-0:3.7.7-1.fc42.x86_6 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[56/56] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/57] popt-0:1.19-7.fc41.x86_64       100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[57/57] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/58] readline-0:8.2-11.fc42.x86_64   100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[58/58] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/59] rpm-build-libs-0:4.20.0-5.fc42. 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[59/59] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/60] rpm-libs-0:4.20.0-5.fc42.x86_64 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[60/60] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/61] zstd-0:1.5.6-2.fc41.x86_64      100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[61/61] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/62] filesystem-0:3.18-30.fc42.x86_6 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[62/62] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/63] ncurses-libs-0:6.5-2.20240629.f 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[63/63] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/64] coreutils-common-0:9.5-12.fc42. 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[64/64] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/65] gmp-1:6.3.0-2.fc41.x86_64       100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[65/65] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/66] libattr-0:2.5.2-4.fc41.x86_64   100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[66/66] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/67] libcap-0:2.71-2.fc42.x86_64     100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[67/67] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/68] openssl-libs-1:3.2.2-11.fc42.x8 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[68/68] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/69] systemd-libs-0:257.2-7.fc42.x86 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[69/69] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/70] pcre2-0:10.44-1.fc41.1.x86_64   100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[70/70] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/71] ed-0:1.21-1.fc42.x86_64         100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[71/71] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/72] audit-libs-0:4.0.3-1.fc42.x86_6 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[72/72] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/73] libeconf-0:0.7.5-1.fc42.x86_64  100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[73/73] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/74] libsemanage-0:3.8-0.rc3.1.fc42. 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[74/74] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/75] libxcrypt-0:4.4.38-1.fc42.x86_6 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[75/75] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/76] pam-libs-0:1.7.0-3.fc42.x86_64  100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[76/76] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/77] setup-0:2.15.0-9.fc42.noarch    100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[77/77] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/78] fedora-repos-0:42-0.3.noarch    100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[78/78] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/79] glibc-common-0:2.40.9000-28.fc4 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[79/79] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/80] xz-libs-1:5.6.3-2.fc42.x86_64   100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[80/80] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/81] libblkid-0:2.40.2-9.fc42.x86_64 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[81/81] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/82] libcap-ng-0:0.8.5-3.fc41.x86_64 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[82/82] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/83] libfdisk-0:2.40.2-9.fc42.x86_64 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[83/83] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/84] libmount-0:2.40.2-9.fc42.x86_64 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[84/84] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/85] libsmartcols-0:2.40.2-9.fc42.x8 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[85/85] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/86] libuuid-0:2.40.2-9.fc42.x86_64  100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[86/86] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/87] util-linux-core-0:2.40.2-9.fc42 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[87/87] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/88] zlib-ng-compat-0:2.2.3-1.fc42.x 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[88/88] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/89] mpfr-0:4.2.1-5.fc41.x86_64      100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[89/89] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/90] glibc-gconv-extra-0:2.40.9000-2 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[90/90] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/91] basesystem-0:11-21.fc41.noarch  100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[91/91] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/92] libgcc-0:14.2.1-6.fc42.x86_64   100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[92/92] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/93] libsepol-0:3.8-0.rc3.1.fc42.x86 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[93/93] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/94] add-determinism-0:0.5.0-1.fc42. 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[94/94] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/95] file-libs-0:5.45-8.fc42.x86_64  100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[95/95] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/96] curl-0:8.11.1-2.fc42.x86_64     100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[96/96] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/97] elfutils-libs-0:0.192-7.fc42.x8 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[97/97] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/98] elfutils-debuginfod-client-0:0. 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[98/98] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[ 1/99] libstdc++-0:14.2.1-6.fc42.x86_6 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[99/99] Total                           100% |   0.0   B/s |   0.0   B |  00m00s
[  1/100] libzstd-0:1.5.6-2.fc41.x86_64 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[100/100] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/101] libxml2-0:2.12.9-1.fc42.x86_6 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[101/101] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/102] lz4-libs-0:1.10.0-1.fc41.x86_ 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[102/102] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/103] libgomp-0:14.2.1-6.fc42.x86_6 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[103/103] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/104] lua-libs-0:5.4.7-1.fc42.x86_6 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[104/104] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/105] rpm-sequoia-0:1.7.0-3.fc42.x8 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[105/105] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/106] sqlite-libs-0:3.47.2-1.fc42.x 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[106/106] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/107] ncurses-base-0:6.5-2.20240629 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[107/107] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/108] ca-certificates-0:2024.2.69_v 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[108/108] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/109] crypto-policies-0:20241128-1. 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[109/109] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/110] pcre2-syntax-0:10.44-1.fc41.1 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[110/110] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/111] fedora-gpg-keys-0:42-0.3.noar 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[111/111] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/112] fedora-repos-rawhide-0:42-0.3 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[112/112] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/113] elfutils-default-yama-scope-0 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[113/113] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/114] json-c-0:0.18-1.fc42.x86_64   100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[114/114] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/115] authselect-libs-0:1.5.0-8.fc4 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[115/115] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/116] pam-0:1.7.0-3.fc42.x86_64     100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[116/116] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/117] authselect-0:1.5.0-8.fc42.x86 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[117/117] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/118] gdbm-libs-1:1.23-7.fc41.x86_6 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[118/118] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/119] libnsl2-0:2.0.1-2.fc41.x86_64 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[119/119] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/120] libpwquality-0:1.4.5-11.fc41. 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[120/120] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/121] libtirpc-0:1.3.6-1.rc3.fc42.x 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[121/121] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/122] cracklib-0:2.9.11-6.fc41.x86_ 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[122/122] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/123] krb5-libs-0:1.21.3-3.fc42.x86 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[123/123] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/124] libcom_err-0:1.47.2-2.fc42.x8 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[124/124] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/125] keyutils-libs-0:1.6.3-4.fc41. 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[125/125] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/126] libverto-0:0.3.2-9.fc41.x86_6 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[126/126] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/127] binutils-0:2.43.50-9.fc42.x86 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[127/127] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/128] alternatives-0:1.31-2.fc42.x8 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[128/128] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/129] jansson-0:2.14-1.fc42.x86_64  100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[129/129] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/130] pkgconf-pkg-config-0:2.3.0-1. 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[130/130] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/131] pkgconf-0:2.3.0-1.fc42.x86_64 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[131/131] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/132] pkgconf-m4-0:2.3.0-1.fc42.noa 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[132/132] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/133] libpkgconf-0:2.3.0-1.fc42.x86 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[133/133] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/134] gdbm-1:1.23-7.fc41.x86_64     100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[134/134] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/135] libffi-0:3.4.6-3.fc42.x86_64  100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[135/135] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/136] p11-kit-0:0.25.5-4.fc42.x86_6 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[136/136] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/137] libtasn1-0:4.19.0-9.fc41.x86_ 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[137/137] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/138] p11-kit-trust-0:0.25.5-4.fc42 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[138/138] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/139] fedora-release-0:42-0.13.noar 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[139/139] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/140] gdb-minimal-0:15.2-4.fc42.x86 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[140/140] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/141] xxhash-libs-0:0.8.3-1.fc42.x8 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[141/141] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/142] fedora-release-identity-basic 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[142/142] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/143] libcurl-0:8.11.1-2.fc42.x86_6 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[143/143] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/144] libbrotli-0:1.1.0-5.fc41.x86_ 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[144/144] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/145] libidn2-0:2.3.7-2.fc41.x86_64 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[145/145] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/146] libnghttp2-0:1.64.0-1.fc42.x8 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[146/146] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/147] libpsl-0:0.21.5-4.fc41.x86_64 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[147/147] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/148] libssh-0:0.11.1-1.fc42.x86_64 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[148/148] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/149] openldap-0:2.6.9-1.fc42.x86_6 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[149/149] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/150] libunistring-0:1.1-8.fc41.x86 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[150/150] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/151] publicsuffix-list-dafsa-0:202 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[151/151] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/152] libssh-config-0:0.11.1-1.fc42 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[152/152] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/153] cyrus-sasl-lib-0:2.1.28-28.fc 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[153/153] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/154] libevent-0:2.1.12-14.fc41.x86 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[154/154] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
[  1/155] libtool-ltdl-0:2.5.4-2.fc42.x 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[155/155] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
Running transaction
Importing OpenPGP key 0x105EF944:
 UserID     : "Fedora (42) <fedora-42-primary@fedoraproject.org>"
 Fingerprint: B0F4950458F69E1150C6C5EDC8AC4916105EF944
 From       : file:///usr/share/distribution-gpg-keys/fedora/RPM-GPG-KEY-fedora-42-primary
The key was successfully imported.
Importing OpenPGP key 0x105EF944:
 UserID     : "Fedora (42) <fedora-42-primary@fedoraproject.org>"
 Fingerprint: B0F4950458F69E1150C6C5EDC8AC4916105EF944
 From       : file:///usr/share/distribution-gpg-keys/fedora/RPM-GPG-KEY-fedora-42-primary
The key was successfully imported.
Importing OpenPGP 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.
Importing OpenPGP key 0x31645531:
 UserID     : "Fedora (43) <fedora-43-primary@fedoraproject.org>"
 Fingerprint: C6E7F081CF80E13146676E88829B606631645531
 From       : file:///usr/share/distribution-gpg-keys/fedora/RPM-GPG-KEY-fedora-43-primary
The key was successfully imported.
[  1/157] Verify package files          100% | 917.0   B/s | 155.0   B |  00m00s
[  2/157] Prepare transaction           100% |   4.1 KiB/s | 155.0   B |  00m00s
[  3/157] Installing libgcc-0:14.2.1-6. 100% | 265.9 MiB/s | 272.3 KiB |  00m00s
[  4/157] Installing libssh-config-0:0. 100% |   0.0   B/s | 816.0   B |  00m00s
[  5/157] Installing publicsuffix-list- 100% |   0.0   B/s |  68.3 KiB |  00m00s
[  6/157] Installing fedora-release-ide 100% |   0.0   B/s | 976.0   B |  00m00s
[  7/157] Installing fedora-gpg-keys-0: 100% |  56.1 MiB/s | 172.2 KiB |  00m00s
[  8/157] Installing fedora-repos-rawhi 100% |   0.0   B/s |   2.4 KiB |  00m00s
[  9/157] Installing fedora-repos-0:42- 100% |   0.0   B/s |   5.7 KiB |  00m00s
[ 10/157] Installing fedora-release-com 100% |  23.6 MiB/s |  24.1 KiB |  00m00s
[ 11/157] Installing fedora-release-0:4 100% |   0.0   B/s | 124.0   B |  00m00s
[ 12/157] Installing setup-0:2.15.0-9.f 100% |  59.1 MiB/s | 726.5 KiB |  00m00s
>>> [RPM] /etc/hosts created as /etc/hosts.rpmnew
[ 13/157] Installing filesystem-0:3.18- 100% |   2.9 MiB/s | 212.4 KiB |  00m00s
[ 14/157] Installing basesystem-0:11-21 100% |   0.0   B/s | 124.0   B |  00m00s
[ 15/157] Installing pkgconf-m4-0:2.3.0 100% |   0.0   B/s |  14.8 KiB |  00m00s
[ 16/157] Installing pcre2-syntax-0:10. 100% | 248.1 MiB/s | 254.1 KiB |  00m00s
[ 17/157] Installing ncurses-base-0:6.5 100% |  85.9 MiB/s | 351.7 KiB |  00m00s
[ 18/157] Installing glibc-minimal-lang 100% |   0.0   B/s | 124.0   B |  00m00s
[ 19/157] Installing ncurses-libs-0:6.5 100% | 239.7 MiB/s | 981.8 KiB |  00m00s
[ 20/157] Installing glibc-0:2.40.9000- 100% | 215.8 MiB/s |   6.7 MiB |  00m00s
[ 21/157] Installing bash-0:5.2.37-1.fc 100% | 281.7 MiB/s |   8.2 MiB |  00m00s
[ 22/157] Installing glibc-common-0:2.4 100% |  65.1 MiB/s |   1.0 MiB |  00m00s
[ 23/157] Installing glibc-gconv-extra- 100% | 299.1 MiB/s |   8.1 MiB |  00m00s
[ 24/157] Installing zlib-ng-compat-0:2 100% | 136.1 MiB/s | 139.3 KiB |  00m00s
[ 25/157] Installing bzip2-libs-0:1.0.8 100% |   0.0   B/s |  81.8 KiB |  00m00s
[ 26/157] Installing xz-libs-1:5.6.3-2. 100% | 214.3 MiB/s | 219.5 KiB |  00m00s
[ 27/157] Installing popt-0:1.19-7.fc41 100% |  70.1 MiB/s | 143.5 KiB |  00m00s
[ 28/157] Installing readline-0:8.2-11. 100% | 483.7 MiB/s | 495.3 KiB |  00m00s
[ 29/157] Installing libuuid-0:2.40.2-9 100% |   0.0   B/s |  41.0 KiB |  00m00s
[ 30/157] Installing libblkid-0:2.40.2- 100% | 252.2 MiB/s | 258.3 KiB |  00m00s
[ 31/157] Installing gmp-1:6.3.0-2.fc41 100% | 397.3 MiB/s | 813.7 KiB |  00m00s
[ 32/157] Installing libattr-0:2.5.2-4. 100% |   0.0   B/s |  29.5 KiB |  00m00s
[ 33/157] Installing libacl-0:2.3.2-2.f 100% |   0.0   B/s |  40.7 KiB |  00m00s
[ 34/157] Installing libxcrypt-0:4.4.38 100% | 266.2 MiB/s | 272.6 KiB |  00m00s
[ 35/157] Installing libstdc++-0:14.2.1 100% | 394.3 MiB/s |   2.8 MiB |  00m00s
[ 36/157] Installing libzstd-0:1.5.6-2. 100% | 389.3 MiB/s | 797.2 KiB |  00m00s
[ 37/157] Installing elfutils-libelf-0: 100% | 389.0 MiB/s |   1.2 MiB |  00m00s
[ 38/157] Installing libeconf-0:0.7.5-1 100% |   0.0   B/s |  68.4 KiB |  00m00s
[ 39/157] Installing gdbm-libs-1:1.23-7 100% | 120.7 MiB/s | 123.6 KiB |  00m00s
[ 40/157] Installing dwz-0:0.15-8.fc42. 100% |  24.5 MiB/s | 300.6 KiB |  00m00s
[ 41/157] Installing mpfr-0:4.2.1-5.fc4 100% | 407.1 MiB/s | 833.7 KiB |  00m00s
[ 42/157] Installing gawk-0:5.3.0-4.fc4 100% | 101.9 MiB/s |   1.7 MiB |  00m00s
[ 43/157] Installing unzip-0:6.0-65.fc4 100% |  32.7 MiB/s | 401.7 KiB |  00m00s
[ 44/157] Installing file-libs-0:5.45-8 100% | 764.5 MiB/s |   9.9 MiB |  00m00s
[ 45/157] Installing file-0:5.45-8.fc42 100% |   5.7 MiB/s | 105.2 KiB |  00m00s
[ 46/157] Installing crypto-policies-0: 100% |  40.0 MiB/s | 163.7 KiB |  00m00s
[ 47/157] Installing pcre2-0:10.44-1.fc 100% | 319.8 MiB/s | 654.9 KiB |  00m00s
[ 48/157] Installing grep-0:3.11-9.fc41 100% |  62.7 MiB/s |   1.0 MiB |  00m00s
[ 49/157] Installing xz-1:5.6.3-2.fc42. 100% |  77.3 MiB/s |   1.2 MiB |  00m00s
[ 50/157] Installing libcap-ng-0:0.8.5- 100% |  69.4 MiB/s |  71.0 KiB |  00m00s
[ 51/157] Installing audit-libs-0:4.0.3 100% | 345.1 MiB/s | 353.4 KiB |  00m00s
[ 52/157] Installing pam-libs-0:1.7.0-3 100% | 138.5 MiB/s | 141.8 KiB |  00m00s
[ 53/157] Installing libcap-0:2.71-2.fc 100% |  18.6 MiB/s | 228.3 KiB |  00m00s
[ 54/157] Installing systemd-libs-0:257 100% | 370.1 MiB/s |   2.2 MiB |  00m00s
[ 55/157] Installing libsmartcols-0:2.4 100% | 173.2 MiB/s | 177.4 KiB |  00m00s
[ 56/157] Installing libsepol-0:3.8-0.r 100% | 397.1 MiB/s | 813.3 KiB |  00m00s
[ 57/157] Installing libselinux-0:3.8-0 100% | 188.4 MiB/s | 192.9 KiB |  00m00s
[ 58/157] Installing sed-0:4.9-3.fc41.x 100% |  56.6 MiB/s | 869.7 KiB |  00m00s
[ 59/157] Installing findutils-1:4.10.0 100% | 116.1 MiB/s |   1.9 MiB |  00m00s
[ 60/157] Installing libmount-0:2.40.2- 100% | 345.7 MiB/s | 354.0 KiB |  00m00s
[ 61/157] Installing lz4-libs-0:1.10.0- 100% | 143.1 MiB/s | 146.6 KiB |  00m00s
[ 62/157] Installing lua-libs-0:5.4.7-1 100% | 279.5 MiB/s | 286.2 KiB |  00m00s
[ 63/157] Installing libcom_err-0:1.47. 100% |   0.0   B/s |  67.1 KiB |  00m00s
[ 64/157] Installing alternatives-0:1.3 100% |   5.4 MiB/s |  66.4 KiB |  00m00s
[ 65/157] Installing libffi-0:3.4.6-3.f 100% |  85.7 MiB/s |  87.8 KiB |  00m00s
[ 66/157] Installing libtasn1-0:4.19.0- 100% | 173.3 MiB/s | 177.5 KiB |  00m00s
[ 67/157] Installing p11-kit-0:0.25.5-4 100% | 116.6 MiB/s |   2.2 MiB |  00m00s
[ 68/157] Installing libunistring-0:1.1 100% | 432.7 MiB/s |   1.7 MiB |  00m00s
[ 69/157] Installing libidn2-0:2.3.7-2. 100% | 163.6 MiB/s | 335.1 KiB |  00m00s
[ 70/157] Installing libpsl-0:0.21.5-4. 100% |   0.0   B/s |  81.7 KiB |  00m00s
[ 71/157] Installing p11-kit-trust-0:0. 100% |  20.8 MiB/s | 405.5 KiB |  00m00s
[ 72/157] Installing zstd-0:1.5.6-2.fc4 100% | 105.7 MiB/s |   1.7 MiB |  00m00s
[ 73/157] Installing util-linux-core-0: 100% |  87.2 MiB/s |   1.5 MiB |  00m00s
[ 74/157] Installing tar-2:1.35-4.fc41. 100% | 155.7 MiB/s |   3.0 MiB |  00m00s
[ 75/157] Installing libsemanage-0:3.8- 100% | 149.9 MiB/s | 307.1 KiB |  00m00s
[ 76/157] Installing shadow-utils-2:4.1 100% | 150.0 MiB/s |   4.0 MiB |  00m00s
[ 77/157] Installing zip-0:3.0-42.fc42. 100% |  52.6 MiB/s | 699.8 KiB |  00m00s
[ 78/157] Installing gdbm-1:1.23-7.fc41 100% |  35.0 MiB/s | 465.8 KiB |  00m00s
[ 79/157] Installing cyrus-sasl-lib-0:2 100% | 134.7 MiB/s |   2.3 MiB |  00m00s
[ 80/157] Installing libfdisk-0:2.40.2- 100% | 360.9 MiB/s | 369.5 KiB |  00m00s
[ 81/157] Installing libxml2-0:2.12.9-1 100% | 112.4 MiB/s |   1.7 MiB |  00m00s
[ 82/157] Installing bzip2-0:1.0.8-19.f 100% |   8.2 MiB/s | 100.2 KiB |  00m00s
[ 83/157] Installing add-determinism-0: 100% | 139.3 MiB/s |   2.4 MiB |  00m00s
[ 84/157] Installing build-reproducibil 100% |   0.0   B/s |   1.0 KiB |  00m00s
[ 85/157] Installing sqlite-libs-0:3.47 100% | 358.5 MiB/s |   1.4 MiB |  00m00s
[ 86/157] Installing filesystem-srpm-ma 100% |   0.0   B/s |  36.8 KiB |  00m00s
[ 87/157] Installing ed-0:1.21-1.fc42.x 100% |  12.0 MiB/s | 147.1 KiB |  00m00s
[ 88/157] Installing patch-0:2.7.6-25.f 100% |  21.8 MiB/s | 268.2 KiB |  00m00s
[ 89/157] Installing elfutils-default-y 100% | 408.6 KiB/s |   2.0 KiB |  00m00s
[ 90/157] Installing elfutils-libs-0:0. 100% | 324.6 MiB/s | 664.7 KiB |  00m00s
[ 91/157] Installing cpio-0:2.15-2.fc41 100% |  68.7 MiB/s |   1.1 MiB |  00m00s
[ 92/157] Installing diffutils-0:3.10-8 100% |  99.4 MiB/s |   1.6 MiB |  00m00s
[ 93/157] Installing libgomp-0:14.2.1-6 100% | 509.0 MiB/s | 521.2 KiB |  00m00s
[ 94/157] Installing json-c-0:0.18-1.fc 100% |  82.6 MiB/s |  84.6 KiB |  00m00s
[ 95/157] Installing keyutils-libs-0:1. 100% |   0.0   B/s |  55.8 KiB |  00m00s
[ 96/157] Installing libverto-0:0.3.2-9 100% |   0.0   B/s |  31.3 KiB |  00m00s
[ 97/157] Installing jansson-0:2.14-1.f 100% |  92.3 MiB/s |  94.5 KiB |  00m00s
[ 98/157] Installing libpkgconf-0:2.3.0 100% |   0.0   B/s |  79.3 KiB |  00m00s
[ 99/157] Installing pkgconf-0:2.3.0-1. 100% |   7.4 MiB/s |  91.1 KiB |  00m00s
[100/157] Installing pkgconf-pkg-config 100% | 161.2 KiB/s |   1.8 KiB |  00m00s
[101/157] Installing xxhash-libs-0:0.8. 100% |  87.8 MiB/s |  89.9 KiB |  00m00s
[102/157] Installing libbrotli-0:1.1.0- 100% | 273.4 MiB/s | 839.9 KiB |  00m00s
[103/157] Installing libnghttp2-0:1.64. 100% | 171.5 MiB/s | 175.6 KiB |  00m00s
[104/157] Installing libtool-ltdl-0:2.5 100% |  67.6 MiB/s |  69.2 KiB |  00m00s
[105/157] Installing coreutils-common-0 100% | 430.4 MiB/s |  11.2 MiB |  00m00s
[106/157] Installing openssl-libs-1:3.2 100% | 452.3 MiB/s |   7.7 MiB |  00m00s
[107/157] Installing coreutils-0:9.5-12 100% | 173.6 MiB/s |   5.6 MiB |  00m00s
[108/157] Installing ca-certificates-0: 100% |   2.1 MiB/s |   2.4 MiB |  00m01s
[109/157] Installing krb5-libs-0:1.21.3 100% | 288.1 MiB/s |   2.3 MiB |  00m00s
[110/157] Installing libarchive-0:3.7.7 100% | 304.1 MiB/s | 934.2 KiB |  00m00s
[111/157] Installing libtirpc-0:1.3.6-1 100% | 194.7 MiB/s | 199.4 KiB |  00m00s
[112/157] Installing gzip-0:1.13-2.fc41 100% |  27.5 MiB/s | 394.6 KiB |  00m00s
[113/157] Installing authselect-libs-0: 100% | 163.5 MiB/s | 837.2 KiB |  00m00s
[114/157] Installing cracklib-0:2.9.11- 100% |  34.9 MiB/s | 250.3 KiB |  00m00s
[115/157] Installing libpwquality-0:1.4 100% |  28.0 MiB/s | 430.1 KiB |  00m00s
[116/157] Installing libnsl2-0:2.0.1-2. 100% |  57.7 MiB/s |  59.1 KiB |  00m00s
[117/157] Installing pam-0:1.7.0-3.fc42 100% | 126.2 MiB/s |   1.9 MiB |  00m00s
[118/157] Installing libssh-0:0.11.1-1. 100% | 279.2 MiB/s | 571.7 KiB |  00m00s
[119/157] Installing rpm-sequoia-0:1.7. 100% | 387.3 MiB/s |   2.3 MiB |  00m00s
[120/157] Installing rpm-libs-0:4.20.0- 100% | 347.6 MiB/s | 711.9 KiB |  00m00s
[121/157] Installing rpm-build-libs-0:4 100% | 200.1 MiB/s | 204.9 KiB |  00m00s
[122/157] Installing libevent-0:2.1.12- 100% | 292.8 MiB/s | 899.5 KiB |  00m00s
[123/157] Installing openldap-0:2.6.9-1 100% | 318.5 MiB/s | 652.3 KiB |  00m00s
[124/157] Installing libcurl-0:8.11.1-2 100% | 266.4 MiB/s | 818.4 KiB |  00m00s
[125/157] Installing elfutils-debuginfo 100% |   6.8 MiB/s |  83.8 KiB |  00m00s
[126/157] Installing elfutils-0:0.192-7 100% | 146.9 MiB/s |   2.6 MiB |  00m00s
[127/157] Installing binutils-0:2.43.50 100% | 339.5 MiB/s |  25.8 MiB |  00m00s
[128/157] Installing gdb-minimal-0:15.2 100% | 295.9 MiB/s |  12.7 MiB |  00m00s
[129/157] Installing debugedit-0:5.1-2. 100% |  15.3 MiB/s | 203.0 KiB |  00m00s
[130/157] Installing curl-0:8.11.1-2.fc 100% |  21.1 MiB/s | 454.5 KiB |  00m00s
[131/157] Installing rpm-0:4.20.0-5.fc4 100% |  99.9 MiB/s |   2.5 MiB |  00m00s
[132/157] Installing efi-srpm-macros-0: 100% |  40.2 MiB/s |  41.2 KiB |  00m00s
[133/157] Installing lua-srpm-macros-0: 100% |   0.0   B/s |   1.9 KiB |  00m00s
[134/157] Installing zig-srpm-macros-0: 100% |   0.0   B/s |   1.7 KiB |  00m00s
[135/157] Installing rust-srpm-macros-0 100% |   0.0   B/s |   5.6 KiB |  00m00s
[136/157] Installing qt6-srpm-macros-0: 100% |   0.0   B/s | 732.0   B |  00m00s
[137/157] Installing qt5-srpm-macros-0: 100% |   0.0   B/s | 776.0   B |  00m00s
[138/157] Installing perl-srpm-macros-0 100% |   0.0   B/s |   1.1 KiB |  00m00s
[139/157] Installing package-notes-srpm 100% |   0.0   B/s |   2.0 KiB |  00m00s
[140/157] Installing openblas-srpm-macr 100% |   0.0   B/s | 392.0   B |  00m00s
[141/157] Installing ocaml-srpm-macros- 100% |   0.0   B/s |   2.2 KiB |  00m00s
[142/157] Installing kernel-srpm-macros 100% |   0.0   B/s |   2.3 KiB |  00m00s
[143/157] Installing gnat-srpm-macros-0 100% |   0.0   B/s |   1.3 KiB |  00m00s
[144/157] Installing ghc-srpm-macros-0: 100% |   0.0   B/s |   1.0 KiB |  00m00s
[145/157] Installing fpc-srpm-macros-0: 100% |   0.0   B/s | 420.0   B |  00m00s
[146/157] Installing ansible-srpm-macro 100% |   0.0   B/s |  36.2 KiB |  00m00s
[147/157] Installing fonts-srpm-macros- 100% |   0.0   B/s |  57.0 KiB |  00m00s
[148/157] Installing forge-srpm-macros- 100% |   0.0   B/s |  40.3 KiB |  00m00s
[149/157] Installing go-srpm-macros-0:3 100% |   0.0   B/s |  62.0 KiB |  00m00s
[150/157] Installing python-srpm-macros 100% |  50.9 MiB/s |  52.2 KiB |  00m00s
[151/157] Installing redhat-rpm-config- 100% |  94.5 MiB/s | 193.5 KiB |  00m00s
[152/157] Installing rpm-build-0:4.20.0 100% |  14.6 MiB/s | 194.5 KiB |  00m00s
[153/157] Installing pyproject-srpm-mac 100% |   2.4 MiB/s |   2.5 KiB |  00m00s
[154/157] Installing util-linux-0:2.40. 100% | 109.0 MiB/s |   3.6 MiB |  00m00s
[155/157] Installing authselect-0:1.5.0 100% |  11.3 MiB/s | 161.9 KiB |  00m00s
[156/157] Installing which-0:2.21-42.fc 100% |   6.7 MiB/s |  82.4 KiB |  00m00s
[157/157] Installing info-0:7.2-1.fc42. 100% | 231.0 KiB/s | 355.6 KiB |  00m02s
Complete!
Finish: installing minimal buildroot with dnf5
Start: creating root cache
Finish: creating root cache
Finish: chroot init
INFO: Installed packages:
INFO: add-determinism-0.5.0-1.fc42.x86_64
alternatives-1.31-2.fc42.x86_64
ansible-srpm-macros-1-16.fc41.noarch
audit-libs-4.0.3-1.fc42.x86_64
authselect-1.5.0-8.fc42.x86_64
authselect-libs-1.5.0-8.fc42.x86_64
basesystem-11-21.fc41.noarch
bash-5.2.37-1.fc42.x86_64
binutils-2.43.50-9.fc42.x86_64
build-reproducibility-srpm-macros-0.5.0-1.fc42.noarch
bzip2-1.0.8-19.fc41.x86_64
bzip2-libs-1.0.8-19.fc41.x86_64
ca-certificates-2024.2.69_v8.0.401-4.fc42.noarch
coreutils-9.5-12.fc42.x86_64
coreutils-common-9.5-12.fc42.x86_64
cpio-2.15-2.fc41.x86_64
cracklib-2.9.11-6.fc41.x86_64
crypto-policies-20241128-1.gitbb7b0b0.fc42.noarch
curl-8.11.1-2.fc42.x86_64
cyrus-sasl-lib-2.1.28-28.fc42.x86_64
debugedit-5.1-2.fc42.x86_64
diffutils-3.10-8.fc41.x86_64
dwz-0.15-8.fc42.x86_64
ed-1.21-1.fc42.x86_64
efi-srpm-macros-5-13.fc42.noarch
elfutils-0.192-7.fc42.x86_64
elfutils-debuginfod-client-0.192-7.fc42.x86_64
elfutils-default-yama-scope-0.192-7.fc42.noarch
elfutils-libelf-0.192-7.fc42.x86_64
elfutils-libs-0.192-7.fc42.x86_64
fedora-gpg-keys-42-0.3.noarch
fedora-release-42-0.13.noarch
fedora-release-common-42-0.13.noarch
fedora-release-identity-basic-42-0.13.noarch
fedora-repos-42-0.3.noarch
fedora-repos-rawhide-42-0.3.noarch
file-5.45-8.fc42.x86_64
file-libs-5.45-8.fc42.x86_64
filesystem-3.18-30.fc42.x86_64
filesystem-srpm-macros-3.18-30.fc42.noarch
findutils-4.10.0-4.fc41.x86_64
fonts-srpm-macros-2.0.5-17.fc41.noarch
forge-srpm-macros-0.4.0-1.fc42.noarch
fpc-srpm-macros-1.3-13.fc41.noarch
gawk-5.3.0-4.fc41.x86_64
gdb-minimal-15.2-4.fc42.x86_64
gdbm-1.23-7.fc41.x86_64
gdbm-libs-1.23-7.fc41.x86_64
ghc-srpm-macros-1.9.2-1.fc42.noarch
glibc-2.40.9000-28.fc42.x86_64
glibc-common-2.40.9000-28.fc42.x86_64
glibc-gconv-extra-2.40.9000-28.fc42.x86_64
glibc-minimal-langpack-2.40.9000-28.fc42.x86_64
gmp-6.3.0-2.fc41.x86_64
gnat-srpm-macros-6-6.fc41.noarch
go-srpm-macros-3.6.0-5.fc42.noarch
gpg-pubkey-105ef944-65ca83d1
gpg-pubkey-31645531-66b6dccf
gpg-pubkey-e99d6ad1-64d2612c
grep-3.11-9.fc41.x86_64
gzip-1.13-2.fc41.x86_64
info-7.2-1.fc42.x86_64
jansson-2.14-1.fc42.x86_64
json-c-0.18-1.fc42.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.fc42.x86_64
libacl-2.3.2-2.fc41.x86_64
libarchive-3.7.7-1.fc42.x86_64
libattr-2.5.2-4.fc41.x86_64
libblkid-2.40.2-9.fc42.x86_64
libbrotli-1.1.0-5.fc41.x86_64
libcap-2.71-2.fc42.x86_64
libcap-ng-0.8.5-3.fc41.x86_64
libcom_err-1.47.2-2.fc42.x86_64
libcurl-8.11.1-2.fc42.x86_64
libeconf-0.7.5-1.fc42.x86_64
libevent-2.1.12-14.fc41.x86_64
libfdisk-2.40.2-9.fc42.x86_64
libffi-3.4.6-3.fc42.x86_64
libgcc-14.2.1-6.fc42.x86_64
libgomp-14.2.1-6.fc42.x86_64
libidn2-2.3.7-2.fc41.x86_64
libmount-2.40.2-9.fc42.x86_64
libnghttp2-1.64.0-1.fc42.x86_64
libnsl2-2.0.1-2.fc41.x86_64
libpkgconf-2.3.0-1.fc42.x86_64
libpsl-0.21.5-4.fc41.x86_64
libpwquality-1.4.5-11.fc41.x86_64
libselinux-3.8-0.rc3.1.fc42.2.x86_64
libsemanage-3.8-0.rc3.1.fc42.x86_64
libsepol-3.8-0.rc3.1.fc42.x86_64
libsmartcols-2.40.2-9.fc42.x86_64
libssh-0.11.1-1.fc42.x86_64
libssh-config-0.11.1-1.fc42.noarch
libstdc++-14.2.1-6.fc42.x86_64
libtasn1-4.19.0-9.fc41.x86_64
libtirpc-1.3.6-1.rc3.fc42.x86_64
libtool-ltdl-2.5.4-2.fc42.x86_64
libunistring-1.1-8.fc41.x86_64
libuuid-2.40.2-9.fc42.x86_64
libverto-0.3.2-9.fc41.x86_64
libxcrypt-4.4.38-1.fc42.x86_64
libxml2-2.12.9-1.fc42.x86_64
libzstd-1.5.6-2.fc41.x86_64
lua-libs-5.4.7-1.fc42.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-2.6.9-1.fc42.x86_64
openssl-libs-3.2.2-11.fc42.x86_64
p11-kit-0.25.5-4.fc42.x86_64
p11-kit-trust-0.25.5-4.fc42.x86_64
package-notes-srpm-macros-0.5-12.fc41.noarch
pam-1.7.0-3.fc42.x86_64
pam-libs-1.7.0-3.fc42.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.fc42.x86_64
pkgconf-m4-2.3.0-1.fc42.noarch
pkgconf-pkg-config-2.3.0-1.fc42.x86_64
popt-1.19-7.fc41.x86_64
publicsuffix-list-dafsa-20240107-4.fc41.noarch
pyproject-srpm-macros-1.16.4-1.fc42.noarch
python-srpm-macros-3.13-3.fc41.noarch
qt5-srpm-macros-5.15.15-1.fc42.noarch
qt6-srpm-macros-6.8.1-4.fc42.noarch
readline-8.2-11.fc42.x86_64
redhat-rpm-config-300-1.fc42.noarch
rpm-4.20.0-5.fc42.x86_64
rpm-build-4.20.0-5.fc42.x86_64
rpm-build-libs-4.20.0-5.fc42.x86_64
rpm-libs-4.20.0-5.fc42.x86_64
rpm-sequoia-1.7.0-3.fc42.x86_64
rust-srpm-macros-26.3-3.fc42.noarch
sed-4.9-3.fc41.x86_64
setup-2.15.0-9.fc42.noarch
shadow-utils-4.17.0-3.fc42.x86_64
sqlite-libs-3.47.2-1.fc42.x86_64
systemd-libs-257.2-7.fc42.x86_64
tar-1.35-4.fc41.x86_64
unzip-6.0-65.fc42.x86_64
util-linux-2.40.2-9.fc42.x86_64
util-linux-core-2.40.2-9.fc42.x86_64
which-2.21-42.fc41.x86_64
xxhash-libs-0.8.3-1.fc42.x86_64
xz-5.6.3-2.fc42.x86_64
xz-libs-5.6.3-2.fc42.x86_64
zig-srpm-macros-1-3.fc41.noarch
zip-3.0-42.fc42.x86_64
zlib-ng-compat-2.2.3-1.fc42.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-0.5.1-1.fc42.copr8518388.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-rawhide-x86_64-1736992065.645037/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-k5zzhp5r/R-CRAN-imuf/R-CRAN-imuf.spec) Config(child) 0 minutes 9 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-0.5.1-1.fc42.copr8518388.src.rpm)  Config(fedora-rawhide-x86_64)
Start: chroot init
INFO: mounting tmpfs at /var/lib/mock/fedora-rawhide-x86_64-1736992065.645037/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-4.20.0-1.fc41.x86_64
  rpm-sequoia-1.7.0-2.fc41.x86_64
  python3-dnf-4.22.0-1.fc41.noarch
  python3-dnf-plugins-core-4.10.0-1.fc41.noarch
  dnf5-5.2.8.1-3.fc41.x86_64
  dnf5-plugins-5.2.8.1-3.fc41.x86_64
Finish: chroot init
Start: build phase for R-CRAN-imuf-0.5.1-1.fc42.copr8518388.src.rpm
Start: build setup for R-CRAN-imuf-0.5.1-1.fc42.copr8518388.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-0.5.1-1.fc42.copr8518388.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:
 Copr repository                        100% | 109.9 KiB/s |   1.5 KiB |  00m00s
 fedora                                 100% | 132.7 KiB/s |  25.1 KiB |  00m00s
 Copr repository                        100% | 172.5 MiB/s |  12.4 MiB |  00m00s
Repositories loaded.
Package                      Arch   Version                          Repository      Size
Installing:
 R-CRAN-Rcpp                 x86_64 1.0.14-1.fc42.copr8507898        copr_base    8.4 MiB
 R-CRAN-RcppEigen            x86_64 0.3.4.0.2-1.fc42.copr8100507     copr_base    9.0 MiB
 R-CRAN-htmltools            x86_64 0.5.8.1-1.fc41.copr7353596       copr_base  522.9 KiB
 R-CRAN-htmlwidgets          noarch 1.6.4-1.fc41.copr7361223         copr_base    2.0 MiB
 R-devel                     x86_64 4.4.2-2.fc42                     fedora       0.0   B
Installing dependencies:
 R-CRAN-R6                   noarch 2.5.1-1.fc41.copr7349938         copr_base  115.9 KiB
 R-CRAN-base64enc            x86_64 0.1.3-3.fc41.copr7349951         copr_base   51.7 KiB
 R-CRAN-bslib                noarch 0.8.0-1.fc41.copr7803003         copr_base   10.0 MiB
 R-CRAN-cachem               x86_64 1.1.0-1.fc41.copr7452047         copr_base  104.7 KiB
 R-CRAN-cli                  x86_64 3.6.3-1.fc41.copr7649835         copr_base    2.4 MiB
 R-CRAN-digest               x86_64 0.6.37-1.fc42.copr7936834        copr_base  495.7 KiB
 R-CRAN-evaluate             noarch 1.0.3-1.fc42.copr8500754         copr_base  147.9 KiB
 R-CRAN-fastmap              x86_64 1.2.0-1.fc41.copr7447859         copr_base  108.5 KiB
 R-CRAN-fontawesome          noarch 0.5.3-1.fc42.copr8272230         copr_base    2.0 MiB
 R-CRAN-fs                   x86_64 1.6.5-1.fc42.copr8192618         copr_base  597.7 KiB
 R-CRAN-glue                 x86_64 1.8.0-1.fc42.copr8094211         copr_base  349.1 KiB
 R-CRAN-highr                noarch 0.11-1.fc41.copr7494448          copr_base   65.2 KiB
 R-CRAN-jquerylib            noarch 0.1.4-1.fc41.copr7357136         copr_base    1.5 MiB
 R-CRAN-jsonlite             x86_64 1.8.9-1.fc42.copr8046217         copr_base    2.3 MiB
 R-CRAN-knitr                noarch 1.49-1.fc42.copr8232802          copr_base    1.7 MiB
 R-CRAN-lifecycle            noarch 1.0.4-1.fc41.copr7354340         copr_base  282.7 KiB
 R-CRAN-memoise              noarch 2.0.1-1.fc41.copr7356088         copr_base   83.7 KiB
 R-CRAN-mime                 x86_64 0.12-1.fc41.copr7349941          copr_base   55.1 KiB
 R-CRAN-rappdirs             x86_64 0.3.3-1.fc42.copr8099955         copr_base   87.3 KiB
 R-CRAN-rlang                x86_64 1.1.4-1.fc41.copr7531082         copr_base    2.6 MiB
 R-CRAN-rmarkdown            noarch 2.29-1.fc42.copr8210728          copr_base    6.8 MiB
 R-CRAN-sass                 x86_64 0.4.9-1.fc41.copr7356969         copr_base    4.2 MiB
 R-CRAN-tinytex              noarch 0.54-1.fc42.copr8201698          copr_base  191.2 KiB
 R-CRAN-xfun                 x86_64 0.50-1.fc42.copr8483452          copr_base  982.8 KiB
 R-CRAN-yaml                 x86_64 2.3.10-1.fc41.copr7795167        copr_base  276.1 KiB
 R-core                      x86_64 4.4.2-2.fc42                     fedora     101.5 MiB
 R-core-devel                x86_64 4.4.2-2.fc42                     fedora     395.8 KiB
 R-java                      x86_64 4.4.2-2.fc42                     fedora       0.0   B
 R-java-devel                x86_64 4.4.2-2.fc42                     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 1.2.13-3.fc42                    fedora       1.4 MiB
 annobin-docs                noarch 12.80-1.fc42                     fedora      98.6 KiB
 annobin-plugin-gcc          x86_64 12.80-1.fc42                     fedora     992.8 KiB
 avahi-libs                  x86_64 0.8-30.fc42                      fedora     174.2 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 1.18.2-2.fc42                    fedora       1.7 MiB
 cairo-devel                 x86_64 1.18.2-2.fc42                    fedora       2.3 MiB
 cmake-filesystem            x86_64 3.31.4-1.fc42                    fedora       0.0   B
 copy-jdk-configs            noarch 4.1-6.fc41                       fedora      20.3 KiB
 cpp                         x86_64 14.2.1-6.fc42                    fedora      35.0 MiB
 cups-filesystem             noarch 1:2.4.11-9.fc42                  fedora       0.0   B
 cups-libs                   x86_64 1:2.4.11-9.fc42                  fedora     613.9 KiB
 dbus-libs                   x86_64 1:1.16.0-1.fc42                  fedora     339.7 KiB
 default-fonts-core-sans     noarch 4.2-2.fc42                       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 2.6.4-1.fc42                     fedora     285.5 KiB
 flexiblas                   x86_64 3.4.4-5.fc42                     fedora      48.5 KiB
 flexiblas-devel             x86_64 3.4.4-5.fc42                     fedora       4.8 MiB
 flexiblas-netlib            x86_64 3.4.4-5.fc42                     fedora      10.6 MiB
 flexiblas-netlib64          x86_64 3.4.4-5.fc42                     fedora      10.7 MiB
 flexiblas-openblas-openmp   x86_64 3.4.4-5.fc42                     fedora      42.3 KiB
 flexiblas-openblas-openmp64 x86_64 3.4.4-5.fc42                     fedora      42.3 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.fc42                    fedora     850.5 KiB
 freetype-devel              x86_64 2.13.3-1.fc42                    fedora       8.5 MiB
 fribidi                     x86_64 1.0.16-1.fc42                    fedora     194.5 KiB
 gcc                         x86_64 14.2.1-6.fc42                    fedora     104.3 MiB
 gcc-c++                     x86_64 14.2.1-6.fc42                    fedora      38.1 MiB
 gcc-gfortran                x86_64 14.2.1-6.fc42                    fedora      37.2 MiB
 gcc-plugin-annobin          x86_64 14.2.1-6.fc42                    fedora      57.6 KiB
 gettext                     x86_64 0.23.1-1.fc42                    fedora       5.1 MiB
 gettext-envsubst            x86_64 0.23.1-1.fc42                    fedora      77.4 KiB
 gettext-libs                x86_64 0.23.1-1.fc42                    fedora       2.0 MiB
 gettext-runtime             x86_64 0.23.1-1.fc42                    fedora     449.6 KiB
 glib2                       x86_64 2.83.0-3.fc42                    fedora      14.6 MiB
 glib2-devel                 x86_64 2.83.0-3.fc42                    fedora      15.8 MiB
 glibc-devel                 x86_64 2.40.9000-28.fc42                fedora       2.3 MiB
 gnutls                      x86_64 3.8.8-1.fc42                     fedora       3.2 MiB
 google-noto-fonts-common    noarch 20250101-1.fc42                  fedora      17.7 KiB
 google-noto-sans-vf-fonts   noarch 20250101-1.fc42                  fedora       1.4 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 10.2.0-1.fc42                    fedora       2.7 MiB
 harfbuzz-cairo              x86_64 10.2.0-1.fc42                    fedora      54.3 KiB
 harfbuzz-devel              x86_64 10.2.0-1.fc42                    fedora       5.1 MiB
 harfbuzz-icu                x86_64 10.2.0-1.fc42                    fedora      18.3 KiB
 java-21-openjdk             x86_64 1:21.0.5.0.11-1.fc42             fedora       1.1 MiB
 java-21-openjdk-devel       x86_64 1:21.0.5.0.11-1.fc42             fedora      11.2 MiB
 java-21-openjdk-headless    x86_64 1:21.0.5.0.11-1.fc42             fedora     203.9 MiB
 javapackages-filesystem     noarch 6.4.0-4.fc42                     fedora       2.0 KiB
 jbigkit-libs                x86_64 2.1-30.fc41                      fedora     117.6 KiB
 kernel-headers              x86_64 6.13.0-0.rc7.55.fc42             fedora       6.5 MiB
 less                        x86_64 668-1.fc42                       fedora     406.4 KiB
 libICE                      x86_64 1.1.2-1.fc42                     fedora     192.2 KiB
 libRmath                    x86_64 4.4.2-2.fc42                     fedora     247.9 KiB
 libRmath-devel              x86_64 4.4.2-2.fc42                     fedora      17.4 KiB
 libSM                       x86_64 1.2.5-1.fc42                     fedora      99.6 KiB
 libX11                      x86_64 1.8.10-2.fc42                    fedora       1.3 MiB
 libX11-common               noarch 1.8.10-2.fc42                    fedora       1.1 MiB
 libX11-devel                x86_64 1.8.10-2.fc42                    fedora       1.0 MiB
 libX11-xcb                  x86_64 1.8.10-2.fc42                    fedora      15.0 KiB
 libXau                      x86_64 1.0.12-1.fc42                    fedora      75.8 KiB
 libXau-devel                x86_64 1.0.12-1.fc42                    fedora       7.5 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.fc42                     fedora      80.7 KiB
 libXmu                      x86_64 1.2.1-2.fc41                     fedora     191.5 KiB
 libXrender                  x86_64 0.9.12-1.fc42                    fedora      48.8 KiB
 libXrender-devel            x86_64 0.9.12-1.fc42                    fedora      50.1 KiB
 libXt                       x86_64 1.3.1-1.fc42                     fedora     432.9 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 2.40.2-9.fc42                    fedora      44.9 KiB
 libdatrie                   x86_64 0.2.13-10.fc41                   fedora      57.9 KiB
 libdeflate                  x86_64 1.23-1.fc42                      fedora     117.2 KiB
 libdeflate-devel            x86_64 1.23-1.fc42                      fedora      25.9 KiB
 libffi-devel                x86_64 3.4.6-3.fc42                     fedora      33.1 KiB
 libfontenc                  x86_64 1.1.8-2.fc41                     fedora      67.0 KiB
 libgfortran                 x86_64 14.2.1-6.fc42                    fedora       3.0 MiB
 libicu                      x86_64 76.1-2.fc42                      fedora      36.2 MiB
 libicu-devel                x86_64 76.1-2.fc42                      fedora       5.0 MiB
 libjpeg-turbo               x86_64 3.1.0-1.fc42                     fedora     787.0 KiB
 liblerc                     x86_64 4.0.0-7.fc41                     fedora     607.5 KiB
 libmount-devel              x86_64 2.40.2-9.fc42                    fedora      63.5 KiB
 libmpc                      x86_64 1.3.1-6.fc41                     fedora     164.7 KiB
 libpng                      x86_64 2:1.6.44-1.fc42                  fedora     245.8 KiB
 libpng-devel                x86_64 2:1.6.44-1.fc42                  fedora     886.0 KiB
 libquadmath                 x86_64 14.2.1-6.fc42                    fedora     325.9 KiB
 libquadmath-devel           x86_64 14.2.1-6.fc42                    fedora      21.9 KiB
 libselinux-devel            x86_64 3.8-0.rc3.1.fc42.2               fedora     126.8 KiB
 libsepol-devel              x86_64 3.8-0.rc3.1.fc42                 fedora     120.8 KiB
 libstdc++-devel             x86_64 14.2.1-6.fc42                    fedora      15.4 MiB
 libtextstyle                x86_64 0.23.1-1.fc42                    fedora     198.7 KiB
 libthai                     x86_64 0.1.29-9.fc41                    fedora     783.5 KiB
 libtiff                     x86_64 4.7.0-2.fc42                     fedora     620.0 KiB
 libtirpc-devel              x86_64 1.3.6-1.rc3.fc42                 fedora     251.6 KiB
 libwebp                     x86_64 1.5.0-1.fc42                     fedora     814.4 KiB
 libxcb                      x86_64 1.17.0-3.fc42                    fedora       1.2 MiB
 libxcb-devel                x86_64 1.17.0-3.fc42                    fedora       2.7 MiB
 libxcrypt-devel             x86_64 4.4.38-1.fc42                    fedora      30.8 KiB
 libxml2-devel               x86_64 2.12.9-1.fc42                    fedora       3.4 MiB
 lksctp-tools                x86_64 1.0.20-1.fc42                    fedora     271.0 KiB
 lua                         x86_64 5.4.7-1.fc42                     fedora     610.5 KiB
 lua-posix                   x86_64 36.2.1-7.fc41                    fedora     599.8 KiB
 make                        x86_64 1:4.4.1-9.fc42                   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 4.36.0-2.fc42                    fedora     309.9 KiB
 nss                         x86_64 3.107.0-1.fc42                   fedora       1.8 MiB
 nss-softokn                 x86_64 3.107.0-1.fc42                   fedora       1.8 MiB
 nss-softokn-freebl          x86_64 3.107.0-1.fc42                   fedora     830.8 KiB
 nss-sysinit                 x86_64 3.107.0-1.fc42                   fedora      21.1 KiB
 nss-util                    x86_64 3.107.0-1.fc42                   fedora     200.2 KiB
 openblas                    x86_64 0.3.28-2.fc42                    fedora     106.6 KiB
 openblas-openmp             x86_64 0.3.28-2.fc42                    fedora      39.3 MiB
 openblas-openmp64           x86_64 0.3.28-2.fc42                    fedora      39.5 MiB
 pango                       x86_64 1.55.0-1.fc42                    fedora     997.8 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 0.44.2-1.fc42                    fedora     664.5 KiB
 pixman-devel                x86_64 0.44.2-1.fc42                    fedora      49.4 KiB
 python-pip-wheel            noarch 24.3.1-1.fc42                    fedora       1.2 MiB
 python3                     x86_64 3.13.1-2.fc42                    fedora      30.6 KiB
 python3-libs                x86_64 3.13.1-2.fc42                    fedora      39.8 MiB
 python3-packaging           noarch 24.2-2.fc42                      fedora     555.7 KiB
 sysprof-capture-devel       x86_64 47.2-1.fc42                      fedora     273.2 KiB
 tcl                         x86_64 1:8.6.15-6.fc42                  fedora       4.2 MiB
 tcl-devel                   x86_64 1:8.6.15-6.fc42                  fedora     793.3 KiB
 tk                          x86_64 1:8.6.15-1.fc42                  fedora       3.6 MiB
 tk-devel                    x86_64 1:8.6.15-1.fc42                  fedora     985.4 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 2024b-1.fc42                     fedora       1.6 MiB
 tzdata-java                 noarch 2024b-1.fc42                     fedora      99.4 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 1:5.6.3-2.fc42                   fedora     255.6 KiB
 zlib-ng-compat-devel        x86_64 2.2.3-1.fc42                     fedora     107.0 KiB

Transaction Summary:
 Installing:       189 packages

Total size of inbound packages is 293 MiB. Need to download 1 MiB.
After this operation, 924 MiB extra will be used (install 924 MiB, remove 0 B).
[1/1] R-CRAN-Rcpp-0:1.0.14-1.fc42.copr8 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
--------------------------------------------------------------------------------
[1/1] Total                             100% |   0.0   B/s |   0.0   B |  00m00s
[1/3] R-CRAN-htmltools-0:0.5.8.1-1.fc41 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[2/4] R-CRAN-htmlwidgets-0:1.6.4-1.fc41 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[3/5] R-devel-0:4.4.2-2.fc42.x86_64     100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[4/6] R-littler-0:0.3.19-5.fc41.x86_64  100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[5/7] flexiblas-netlib-0:3.4.4-5.fc42.x 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[6/8] R-CRAN-base64enc-0:0.1.3-3.fc41.c 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[7/9] R-CRAN-digest-0:0.6.37-1.fc42.cop 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[ 8/10] R-CRAN-fastmap-0:1.2.0-1.fc41.c 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[ 9/11] R-CRAN-rlang-0:1.1.4-1.fc41.cop 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[10/12] R-CRAN-jsonlite-0:1.8.9-1.fc42. 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[11/13] R-CRAN-knitr-0:1.49-1.fc42.copr 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[12/14] R-CRAN-rmarkdown-0:2.29-1.fc42. 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[13/15] R-CRAN-yaml-0:2.3.10-1.fc41.cop 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[14/16] R-core-devel-0:4.4.2-2.fc42.x86 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[15/17] R-java-devel-0:4.4.2-2.fc42.x86 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[16/18] R-rpm-macros-0:1.2.1-11.fc41.no 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[17/19] flexiblas-0:3.4.4-5.fc42.x86_64 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[18/20] flexiblas-openblas-openmp-0:3.4 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[19/21] libgfortran-0:14.2.1-6.fc42.x86 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[20/22] libquadmath-0:14.2.1-6.fc42.x86 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[21/23] R-CRAN-evaluate-0:1.0.3-1.fc42. 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[22/24] R-CRAN-highr-0:0.11-1.fc41.copr 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[23/25] R-CRAN-xfun-0:0.50-1.fc42.copr8 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[24/26] R-CRAN-bslib-0:0.8.0-1.fc41.cop 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[25/27] R-CRAN-fontawesome-0:0.5.3-1.fc 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[26/28] R-CRAN-jquerylib-0:0.1.4-1.fc41 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[27/29] R-CRAN-tinytex-0:0.54-1.fc42.co 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[28/30] R-core-0:4.4.2-2.fc42.x86_64    100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[29/31] libRmath-devel-0:4.4.2-2.fc42.x 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[30/32] make-1:4.4.1-9.fc42.x86_64      100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[31/33] R-java-0:4.4.2-2.fc42.x86_64    100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[32/34] java-21-openjdk-devel-1:21.0.5. 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[33/35] openblas-openmp-0:0.3.28-2.fc42 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[34/36] R-CRAN-cachem-0:1.1.0-1.fc41.co 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[35/37] R-CRAN-lifecycle-0:1.0.4-1.fc41 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[36/38] R-CRAN-memoise-0:2.0.1-1.fc41.c 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[37/39] R-CRAN-mime-0:0.12-1.fc41.copr7 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[38/40] R-CRAN-sass-0:0.4.9-1.fc41.copr 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[39/41] cairo-0:1.18.2-2.fc42.x86_64    100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[40/42] glib2-0:2.83.0-3.fc42.x86_64    100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[41/43] less-0:668-1.fc42.x86_64        100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[42/44] libRmath-0:4.4.2-2.fc42.x86_64  100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[43/45] libX11-0:1.8.10-2.fc42.x86_64   100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[44/46] libXmu-0:1.2.1-2.fc41.x86_64    100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[45/47] libXt-0:1.3.1-1.fc42.x86_64     100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[46/48] libdeflate-0:1.23-1.fc42.x86_64 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[47/49] libicu-0:76.1-2.fc42.x86_64     100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[48/50] libjpeg-turbo-0:3.1.0-1.fc42.x8 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[49/51] libpng-2:1.6.44-1.fc42.x86_64   100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[50/52] libtiff-0:4.7.0-2.fc42.x86_64   100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[51/53] pango-0:1.55.0-1.fc42.x86_64    100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[52/54] tcl-1:8.6.15-6.fc42.x86_64      100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[53/55] tk-1:8.6.15-1.fc42.x86_64       100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[54/56] tre-0:0.8.0-45.20140228gitc2f5d 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[55/57] xdg-utils-0:1.2.1-2.fc41.noarch 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[56/58] java-21-openjdk-headless-1:21.0 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[57/59] java-21-openjdk-1:21.0.5.0.11-1 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[58/60] R-CRAN-cli-0:3.6.3-1.fc41.copr7 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[59/61] R-CRAN-glue-0:1.8.0-1.fc42.copr 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[60/62] R-CRAN-R6-0:2.5.1-1.fc41.copr73 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[61/63] R-CRAN-fs-0:1.6.5-1.fc42.copr81 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[62/64] R-CRAN-rappdirs-0:0.3.3-1.fc42. 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[63/65] fontconfig-0:2.15.0-8.fc41.x86_ 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[64/66] freetype-0:2.13.3-1.fc42.x86_64 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[65/67] libXext-0:1.3.6-2.fc41.x86_64   100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[66/68] libXrender-0:0.9.12-1.fc42.x86_ 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[67/69] libxcb-0:1.17.0-3.fc42.x86_64   100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[68/70] pixman-0:0.44.2-1.fc42.x86_64   100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[69/71] gnutls-0:3.8.8-1.fc42.x86_64    100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[70/72] libX11-common-0:1.8.10-2.fc42.n 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[71/73] libICE-0:1.1.2-1.fc42.x86_64    100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[72/74] libSM-0:1.2.5-1.fc42.x86_64     100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[73/75] jbigkit-libs-0:2.1-30.fc41.x86_ 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[74/76] liblerc-0:4.0.0-7.fc41.x86_64   100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[75/77] libwebp-0:1.5.0-1.fc42.x86_64   100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[76/78] fribidi-0:1.0.16-1.fc42.x86_64  100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[77/79] harfbuzz-0:10.2.0-1.fc42.x86_64 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[78/80] libXft-0:2.3.8-7.fc41.x86_64    100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[79/81] libthai-0:0.1.29-9.fc41.x86_64  100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[80/82] tre-common-0:0.8.0-45.20140228g 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[81/83] desktop-file-utils-0:0.27-2.fc4 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[82/84] alsa-lib-0:1.2.13-3.fc42.x86_64 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[83/85] copy-jdk-configs-0:4.1-6.fc41.n 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[84/86] javapackages-filesystem-0:6.4.0 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[85/87] lksctp-tools-0:1.0.20-1.fc42.x8 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[86/88] tzdata-java-0:2024b-1.fc42.noar 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[87/89] libXcomposite-0:0.4.6-4.fc41.x8 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[88/90] libXi-0:1.8.2-1.fc42.x86_64     100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[89/91] libXtst-0:1.2.5-1.fc41.x86_64   100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[90/92] xorg-x11-fonts-Type1-0:7.5-39.f 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[91/93] default-fonts-core-sans-0:4.2-2 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[92/94] fonts-filesystem-1:2.0.5-17.fc4 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[93/95] xml-common-0:0.6.3-65.fc41.noar 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[94/96] libXau-0:1.0.12-1.fc42.x86_64   100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[95/97] nettle-0:3.10-3.fc41.x86_64     100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[96/98] graphite2-0:1.3.14-16.fc41.x86_ 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[97/99] libdatrie-0:0.2.13-10.fc41.x86_ 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[ 98/100] emacs-filesystem-1:30.0-3.fc4 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[ 99/101] lua-posix-0:36.2.1-7.fc41.x86 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[100/102] mkfontscale-0:1.2.3-1.fc41.x8 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[101/103] ttmkfdir-0:3.0.9-71.fc41.x86_ 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[102/104] abattis-cantarell-vf-fonts-0: 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[103/105] google-noto-sans-vf-fonts-0:2 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[104/106] libfontenc-0:1.1.8-2.fc41.x86 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[105/107] google-noto-fonts-common-0:20 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[106/108] openblas-0:0.3.28-2.fc42.x86_ 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[107/109] cups-libs-1:2.4.11-9.fc42.x86 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[108/110] avahi-libs-0:0.8-30.fc42.x86_ 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[109/111] cups-filesystem-1:2.4.11-9.fc 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[110/112] dbus-libs-1:1.16.0-1.fc42.x86 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[111/113] nss-0:3.107.0-1.fc42.x86_64   100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[112/114] nspr-0:4.36.0-2.fc42.x86_64   100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[113/115] nss-softokn-0:3.107.0-1.fc42. 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[114/116] nss-sysinit-0:3.107.0-1.fc42. 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[115/117] nss-util-0:3.107.0-1.fc42.x86 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[116/118] nss-softokn-freebl-0:3.107.0- 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[117/119] lua-0:5.4.7-1.fc42.x86_64     100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[118/120] bzip2-devel-0:1.0.8-19.fc41.x 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[119/121] flexiblas-devel-0:3.4.4-5.fc4 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[120/122] flexiblas-netlib64-0:3.4.4-5. 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[121/123] flexiblas-openblas-openmp64-0 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[122/124] openblas-openmp64-0:0.3.28-2. 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[123/125] gcc-c++-0:14.2.1-6.fc42.x86_6 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[124/126] gcc-0:14.2.1-6.fc42.x86_64    100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[125/127] libmpc-0:1.3.1-6.fc41.x86_64  100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[126/128] cpp-0:14.2.1-6.fc42.x86_64    100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[127/129] gcc-gfortran-0:14.2.1-6.fc42. 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[128/130] libX11-devel-0:1.8.10-2.fc42. 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[129/131] libX11-xcb-0:1.8.10-2.fc42.x8 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[130/132] xorg-x11-proto-devel-0:2024.1 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[131/133] libdeflate-devel-0:1.23-1.fc4 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[132/134] cmake-filesystem-0:3.31.4-1.f 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[133/135] libicu-devel-0:76.1-2.fc42.x8 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[134/136] libtirpc-devel-0:1.3.6-1.rc3. 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[135/137] pcre2-devel-0:10.44-1.fc41.1. 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[136/138] pcre2-utf16-0:10.44-1.fc41.1. 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[137/139] pcre2-utf32-0:10.44-1.fc41.1. 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[138/140] tcl-devel-1:8.6.15-6.fc42.x86 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[139/141] tk-devel-1:8.6.15-1.fc42.x86_ 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[140/142] tre-devel-0:0.8.0-45.20140228 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[141/143] xz-devel-1:5.6.3-2.fc42.x86_6 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[142/144] zlib-ng-compat-devel-0:2.2.3- 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[143/145] libXft-devel-0:2.3.8-7.fc41.x 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[144/146] fontconfig-devel-0:2.15.0-8.f 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[145/147] gettext-0:0.23.1-1.fc42.x86_6 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[146/148] gettext-libs-0:0.23.1-1.fc42. 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[147/149] gettext-runtime-0:0.23.1-1.fc 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[148/150] libtextstyle-0:0.23.1-1.fc42. 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[149/151] gettext-envsubst-0:0.23.1-1.f 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[150/152] freetype-devel-0:2.13.3-1.fc4 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[151/153] libXrender-devel-0:0.9.12-1.f 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[152/154] libxcb-devel-0:1.17.0-3.fc42. 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[153/155] libquadmath-devel-0:14.2.1-6. 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[154/156] libstdc++-devel-0:14.2.1-6.fc 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[155/157] glibc-devel-0:2.40.9000-28.fc 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[156/158] libxcrypt-devel-0:4.4.38-1.fc 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[157/159] brotli-devel-0:1.1.0-5.fc41.x 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[158/160] brotli-0:1.1.0-5.fc41.x86_64  100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[159/161] harfbuzz-devel-0:10.2.0-1.fc4 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[160/162] harfbuzz-cairo-0:10.2.0-1.fc4 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[161/163] harfbuzz-icu-0:10.2.0-1.fc42. 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[162/164] libpng-devel-2:1.6.44-1.fc42. 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[163/165] libxml2-devel-0:2.12.9-1.fc42 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[164/166] libXau-devel-0:1.0.12-1.fc42. 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[165/167] cairo-devel-0:1.18.2-2.fc42.x 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[166/168] glib2-devel-0:2.83.0-3.fc42.x 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[167/169] python3-packaging-0:24.2-2.fc 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[168/170] graphite2-devel-0:1.3.14-16.f 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[169/171] kernel-headers-0:6.13.0-0.rc7 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[170/172] libffi-devel-0:3.4.6-3.fc42.x 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[171/173] libmount-devel-0:2.40.2-9.fc4 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[172/174] libselinux-devel-0:3.8-0.rc3. 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[173/175] libsepol-devel-0:3.8-0.rc3.1. 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[174/176] python3-0:3.13.1-2.fc42.x86_6 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[175/177] python3-libs-0:3.13.1-2.fc42. 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[176/178] expat-0:2.6.4-1.fc42.x86_64   100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[177/179] libb2-0:0.98.1-12.fc41.x86_64 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[178/180] mpdecimal-0:2.5.1-16.fc41.x86 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[179/181] python-pip-wheel-0:24.3.1-1.f 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[180/182] tzdata-0:2024b-1.fc42.noarch  100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[181/183] sysprof-capture-devel-0:47.2- 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[182/184] libXext-devel-0:1.3.6-2.fc41. 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[183/185] pixman-devel-0:0.44.2-1.fc42. 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[184/186] libblkid-devel-0:2.40.2-9.fc4 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[185/187] annobin-plugin-gcc-0:12.80-1. 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[186/188] gcc-plugin-annobin-0:14.2.1-6 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[187/189] annobin-docs-0:12.80-1.fc42.n 100% |   0.0   B/s |   0.0   B |  00m00s
>>> Already downloaded
[188/189] R-CRAN-RcppEigen-0:0.3.4.0.2- 100% |  71.8 MiB/s |   1.4 MiB |  00m00s
--------------------------------------------------------------------------------
[189/189] Total                         100% |   0.0   B/s |   0.0   B |  00m00s
Running transaction
[  1/191] Verify package files          100% | 223.0   B/s | 189.0   B |  00m01s
>>> Running pre-transaction scriptlet: copy-jdk-configs-0:4.1-6.fc41.noarch
>>> Finished pre-transaction scriptlet: copy-jdk-configs-0:4.1-6.fc41.noarch
>>> [RPM] /var/lib/mock/fedora-rawhide-x86_64-1736992065.645037/root/var/cache/d
[  2/191] Prepare transaction           100% |   1.3 KiB/s | 189.0   B |  00m00s
[  3/191] Installing xorg-x11-proto-dev 100% | 254.7 MiB/s |   1.8 MiB |  00m00s
[  4/191] Installing nspr-0:4.36.0-2.fc 100% | 152.2 MiB/s | 311.8 KiB |  00m00s
[  5/191] Installing libgfortran-0:14.2 100% | 434.9 MiB/s |   3.0 MiB |  00m00s
[  6/191] Installing nss-util-0:3.107.0 100% | 196.5 MiB/s | 201.2 KiB |  00m00s
[  7/191] Installing libmpc-0:1.3.1-6.f 100% | 162.3 MiB/s | 166.2 KiB |  00m00s
[  8/191] Installing libpng-2:1.6.44-1. 100% | 241.2 MiB/s | 247.0 KiB |  00m00s
[  9/191] Installing libquadmath-0:14.2 100% | 319.5 MiB/s | 327.2 KiB |  00m00s
[ 10/191] Installing cmake-filesystem-0 100% |   7.4 MiB/s |   7.6 KiB |  00m00s
[ 11/191] Installing zlib-ng-compat-dev 100% |   0.0   B/s | 108.5 KiB |  00m00s
[ 12/191] Installing fonts-filesystem-1 100% | 769.5 KiB/s | 788.0   B |  00m00s
[ 13/191] Installing tcl-1:8.6.15-6.fc4 100% | 170.0 MiB/s |   4.2 MiB |  00m00s
[ 14/191] Installing libicu-0:76.1-2.fc 100% | 421.4 MiB/s |  36.2 MiB |  00m00s
[ 15/191] Installing libicu-devel-0:76. 100% | 203.0 MiB/s |   5.1 MiB |  00m00s
[ 16/191] Installing tcl-devel-1:8.6.15 100% | 390.8 MiB/s | 800.4 KiB |  00m00s
[ 17/191] Installing libpng-devel-2:1.6 100% |  62.1 MiB/s | 889.9 KiB |  00m00s
[ 18/191] Installing libtextstyle-0:0.2 100% | 194.8 MiB/s | 199.5 KiB |  00m00s
[ 19/191] Installing gettext-libs-0:0.2 100% | 335.7 MiB/s |   2.0 MiB |  00m00s
[ 20/191] Installing xz-devel-1:5.6.3-2 100% | 253.3 MiB/s | 259.4 KiB |  00m00s
[ 21/191] Installing bzip2-devel-0:1.0. 100% | 303.5 MiB/s | 310.7 KiB |  00m00s
[ 22/191] Installing openblas-0:0.3.28- 100% |   0.0   B/s | 108.3 KiB |  00m00s
[ 23/191] Installing graphite2-0:1.3.14 100% |  14.6 MiB/s | 194.1 KiB |  00m00s
[ 24/191] Installing libXau-0:1.0.12-1. 100% |  75.6 MiB/s |  77.4 KiB |  00m00s
[ 25/191] Installing libxcb-0:1.17.0-3. 100% | 237.6 MiB/s |   1.2 MiB |  00m00s
[ 26/191] Installing libICE-0:1.1.2-1.f 100% | 189.0 MiB/s | 193.6 KiB |  00m00s
[ 27/191] Installing pixman-0:0.44.2-1. 100% | 325.0 MiB/s | 665.6 KiB |  00m00s
[ 28/191] Installing libjpeg-turbo-0:3. 100% | 385.1 MiB/s | 788.7 KiB |  00m00s
[ 29/191] Installing libdeflate-0:1.23- 100% | 115.9 MiB/s | 118.6 KiB |  00m00s
[ 30/191] Installing libRmath-0:4.4.2-2 100% | 242.9 MiB/s | 248.7 KiB |  00m00s
[ 31/191] Installing make-1:4.4.1-9.fc4 100% | 105.9 MiB/s |   1.8 MiB |  00m00s
[ 32/191] Installing libRmath-devel-0:4 100% |   0.0   B/s |  17.7 KiB |  00m00s
[ 33/191] Installing libdeflate-devel-0 100% |   0.0   B/s |  27.3 KiB |  00m00s
[ 34/191] Installing pixman-devel-0:0.4 100% |   0.0   B/s |  50.2 KiB |  00m00s
[ 35/191] Installing libSM-0:1.2.5-1.fc 100% |  98.6 MiB/s | 100.9 KiB |  00m00s
[ 36/191] Installing libXau-devel-0:1.0 100% |   1.8 MiB/s |   9.4 KiB |  00m00s
[ 37/191] Installing libxcb-devel-0:1.1 100% |  76.7 MiB/s |   3.1 MiB |  00m00s
[ 38/191] Installing graphite2-devel-0: 100% |   0.0   B/s |  50.6 KiB |  00m00s
[ 39/191] Installing openblas-openmp-0: 100% | 633.7 MiB/s |  39.3 MiB |  00m00s
[ 40/191] Installing flexiblas-0:3.4.4- 100% |   0.0   B/s |  49.7 KiB |  00m00s
[ 41/191] Installing flexiblas-openblas 100% |   0.0   B/s |  43.1 KiB |  00m00s
[ 42/191] Installing flexiblas-netlib-0 100% | 294.4 MiB/s |  10.6 MiB |  00m00s
[ 43/191] Installing openblas-openmp64- 100% | 658.0 MiB/s |  39.5 MiB |  00m00s
[ 44/191] Installing flexiblas-netlib64 100% | 306.0 MiB/s |  10.7 MiB |  00m00s
[ 45/191] Installing flexiblas-openblas 100% |  42.1 MiB/s |  43.1 KiB |  00m00s
[ 46/191] Installing flexiblas-devel-0: 100% | 250.6 MiB/s |   4.8 MiB |  00m00s
[ 47/191] Installing libxml2-devel-0:2. 100% | 170.8 MiB/s |   3.4 MiB |  00m00s
[ 48/191] Installing abattis-cantarell- 100% | 189.9 MiB/s | 194.4 KiB |  00m00s
[ 49/191] Installing cpp-0:14.2.1-6.fc4 100% | 372.1 MiB/s |  35.0 MiB |  00m00s
[ 50/191] Installing nss-softokn-freebl 100% | 271.2 MiB/s | 833.0 KiB |  00m00s
[ 51/191] Installing nss-softokn-0:3.10 100% | 367.2 MiB/s |   1.8 MiB |  00m00s
[ 52/191] Installing nss-sysinit-0:3.10 100% |   1.8 MiB/s |  22.0 KiB |  00m00s
[ 53/191] Installing nss-0:3.107.0-1.fc 100% | 166.8 MiB/s |   1.8 MiB |  00m00s
[ 54/191] Installing annobin-docs-0:12. 100% |  97.4 MiB/s |  99.7 KiB |  00m00s
[ 55/191] Installing libblkid-devel-0:2 100% |   0.0   B/s |  46.0 KiB |  00m00s
[ 56/191] Installing sysprof-capture-de 100% |  67.4 MiB/s | 276.0 KiB |  00m00s
[ 57/191] Installing tzdata-0:2024b-1.f 100% |  62.8 MiB/s |   1.9 MiB |  00m00s
[ 58/191] Installing python-pip-wheel-0 100% | 622.1 MiB/s |   1.2 MiB |  00m00s
[ 59/191] Installing mpdecimal-0:2.5.1- 100% | 201.2 MiB/s | 206.0 KiB |  00m00s
[ 60/191] Installing libb2-0:0.98.1-12. 100% |   0.0   B/s |  43.3 KiB |  00m00s
[ 61/191] Installing expat-0:2.6.4-1.fc 100% |  16.5 MiB/s | 287.6 KiB |  00m00s
[ 62/191] Installing python3-libs-0:3.1 100% | 369.0 MiB/s |  40.2 MiB |  00m00s
[ 63/191] Installing python3-0:3.13.1-2 100% |   2.4 MiB/s |  32.4 KiB |  00m00s
[ 64/191] Installing python3-packaging- 100% | 184.9 MiB/s | 568.0 KiB |  00m00s
[ 65/191] Installing libsepol-devel-0:3 100% |  62.6 MiB/s | 128.3 KiB |  00m00s
[ 66/191] Installing libffi-devel-0:3.4 100% |  17.0 MiB/s |  34.8 KiB |  00m00s
[ 67/191] Installing kernel-headers-0:6 100% | 237.3 MiB/s |   6.6 MiB |  00m00s
[ 68/191] Installing libxcrypt-devel-0: 100% |  16.2 MiB/s |  33.1 KiB |  00m00s
[ 69/191] Installing glibc-devel-0:2.40 100% | 179.4 MiB/s |   2.3 MiB |  00m00s
[ 70/191] Installing gcc-0:14.2.1-6.fc4 100% | 431.0 MiB/s | 104.3 MiB |  00m00s
[ 71/191] Installing libquadmath-devel- 100% |  22.8 MiB/s |  23.4 KiB |  00m00s
[ 72/191] Installing gcc-gfortran-0:14. 100% | 365.0 MiB/s |  37.2 MiB |  00m00s
[ 73/191] Installing brotli-0:1.1.0-5.f 100% |   2.6 MiB/s |  32.5 KiB |  00m00s
[ 74/191] Installing brotli-devel-0:1.1 100% |  33.2 MiB/s |  68.0 KiB |  00m00s
[ 75/191] Installing libstdc++-devel-0: 100% | 409.4 MiB/s |  15.6 MiB |  00m00s
[ 76/191] Installing gcc-c++-0:14.2.1-6 100% | 377.5 MiB/s |  38.1 MiB |  00m00s
[ 77/191] Installing gettext-envsubst-0 100% |   6.4 MiB/s |  78.9 KiB |  00m00s
[ 78/191] Installing gettext-runtime-0: 100% |  29.9 MiB/s | 459.0 KiB |  00m00s
[ 79/191] Installing gettext-0:0.23.1-1 100% | 206.9 MiB/s |   5.2 MiB |  00m00s
[ 80/191] Installing pcre2-utf32-0:10.4 100% | 274.8 MiB/s | 562.8 KiB |  00m00s
[ 81/191] Installing pcre2-utf16-0:10.4 100% | 288.5 MiB/s | 590.9 KiB |  00m00s
[ 82/191] Installing pcre2-devel-0:10.4 100% | 110.8 MiB/s |   2.0 MiB |  00m00s
[ 83/191] Installing libselinux-devel-0 100% |  39.5 MiB/s | 161.6 KiB |  00m00s
[ 84/191] Installing libmount-devel-0:2 100% |  63.0 MiB/s |  64.5 KiB |  00m00s
[ 85/191] Installing libtirpc-devel-0:1 100% | 128.5 MiB/s | 263.1 KiB |  00m00s
[ 86/191] Installing libX11-xcb-0:1.8.1 100% |   0.0   B/s |  15.9 KiB |  00m00s
[ 87/191] Installing lua-0:5.4.7-1.fc42 100% |  42.8 MiB/s | 613.6 KiB |  00m00s
[ 88/191] Installing dbus-libs-1:1.16.0 100% | 332.7 MiB/s | 340.6 KiB |  00m00s
[ 89/191] Installing avahi-libs-0:0.8-3 100% | 172.7 MiB/s | 176.8 KiB |  00m00s
[ 90/191] Installing cups-filesystem-1: 100% |   1.7 MiB/s |   1.8 KiB |  00m00s
[ 91/191] Installing google-noto-fonts- 100% |   0.0   B/s |  18.5 KiB |  00m00s
[ 92/191] Installing google-noto-sans-v 100% | 347.8 MiB/s |   1.4 MiB |  00m00s
[ 93/191] Installing default-fonts-core 100% |  17.8 MiB/s |  18.2 KiB |  00m00s
[ 94/191] Installing libfontenc-0:1.1.8 100% |  66.8 MiB/s |  68.4 KiB |  00m00s
[ 95/191] Installing lua-posix-0:36.2.1 100% | 150.1 MiB/s | 614.8 KiB |  00m00s
[ 96/191] Installing copy-jdk-configs-0 100% |   0.0   B/s |  21.0 KiB |  00m00s
[ 97/191] Installing emacs-filesystem-1 100% |   0.0   B/s | 544.0   B |  00m00s
[ 98/191] Installing libdatrie-0:0.2.13 100% |   0.0   B/s |  59.0 KiB |  00m00s
[ 99/191] Installing libthai-0:0.1.29-9 100% | 255.6 MiB/s | 785.3 KiB |  00m00s
[100/191] Installing nettle-0:3.10-3.fc 100% | 259.2 MiB/s | 796.1 KiB |  00m00s
[101/191] Installing gnutls-0:3.8.8-1.f 100% | 361.0 MiB/s |   3.2 MiB |  00m00s
[102/191] Installing glib2-0:2.83.0-3.f 100% | 312.1 MiB/s |  14.7 MiB |  00m00s
[103/191] Installing freetype-0:2.13.3- 100% | 277.4 MiB/s | 852.2 KiB |  00m00s
[104/191] Installing harfbuzz-0:10.2.0- 100% | 381.9 MiB/s |   2.7 MiB |  00m00s
[105/191] Installing harfbuzz-icu-0:10. 100% |   0.0   B/s |  19.2 KiB |  00m00s
[106/191] Installing mkfontscale-0:1.2. 100% |   4.1 MiB/s |  50.6 KiB |  00m00s
[107/191] Installing ttmkfdir-0:3.0.9-7 100% |  10.1 MiB/s | 123.8 KiB |  00m00s
[108/191] Installing desktop-file-utils 100% |  17.6 MiB/s | 234.2 KiB |  00m00s
[109/191] Installing xdg-utils-0:1.2.1- 100% |  26.3 MiB/s | 349.5 KiB |  00m00s
[110/191] Installing glib2-devel-0:2.83 100% | 387.1 MiB/s |  15.9 MiB |  00m00s
[111/191] Installing cups-libs-1:2.4.11 100% |  75.1 MiB/s | 615.5 KiB |  00m00s
[112/191] Installing xml-common-0:0.6.3 100% |  79.2 MiB/s |  81.1 KiB |  00m00s
[113/191] Installing fontconfig-0:2.15. 100% | 784.4 KiB/s | 811.1 KiB |  00m01s
[114/191] Installing xorg-x11-fonts-Typ 100% |  24.2 MiB/s | 865.6 KiB |  00m00s
[115/191] Installing tzdata-java-0:2024 100% |  97.4 MiB/s |  99.8 KiB |  00m00s
[116/191] Installing lksctp-tools-0:1.0 100% |  17.9 MiB/s | 275.5 KiB |  00m00s
[117/191] Installing javapackages-files 100% |   5.4 MiB/s |   5.5 KiB |  00m00s
[118/191] Installing alsa-lib-0:1.2.13- 100% |  76.3 MiB/s |   1.4 MiB |  00m00s
[119/191] Installing java-21-openjdk-he 100% | 457.5 MiB/s | 204.0 MiB |  00m00s
[120/191] Installing tre-common-0:0.8.0 100% |  81.2 MiB/s |  83.1 KiB |  00m00s
[121/191] Installing tre-0:0.8.0-45.201 100% |   0.0   B/s |  76.7 KiB |  00m00s
[122/191] Installing tre-devel-0:0.8.0- 100% |   0.0   B/s |  11.6 KiB |  00m00s
[123/191] Installing fribidi-0:1.0.16-1 100% |  14.8 MiB/s | 197.0 KiB |  00m00s
[124/191] Installing libwebp-0:1.5.0-1. 100% | 266.5 MiB/s | 818.6 KiB |  00m00s
[125/191] Installing liblerc-0:4.0.0-7. 100% | 297.4 MiB/s | 609.0 KiB |  00m00s
[126/191] Installing jbigkit-libs-0:2.1 100% | 116.8 MiB/s | 119.6 KiB |  00m00s
[127/191] Installing libtiff-0:4.7.0-2. 100% | 202.6 MiB/s | 622.3 KiB |  00m00s
[128/191] Installing libX11-common-0:1. 100% | 148.4 MiB/s |   1.2 MiB |  00m00s
[129/191] Installing libX11-0:1.8.10-2. 100% | 321.4 MiB/s |   1.3 MiB |  00m00s
[130/191] Installing libXext-0:1.3.6-2. 100% |  89.2 MiB/s |  91.3 KiB |  00m00s
[131/191] Installing libXrender-0:0.9.1 100% |   0.0   B/s |  50.0 KiB |  00m00s
[132/191] Installing cairo-0:1.18.2-2.f 100% | 249.9 MiB/s |   1.7 MiB |  00m00s
[133/191] Installing libX11-devel-0:1.8 100% |  80.0 MiB/s |   1.1 MiB |  00m00s
[134/191] Installing libXft-0:2.3.8-7.f 100% |  27.0 MiB/s | 166.0 KiB |  00m00s
[135/191] Installing tk-1:8.6.15-1.fc42 100% | 136.5 MiB/s |   3.7 MiB |  00m00s
[136/191] Installing libXrender-devel-0 100% |   0.0   B/s |  51.0 KiB |  00m00s
[137/191] Installing libXi-0:1.8.2-1.fc 100% |  79.9 MiB/s |  81.8 KiB |  00m00s
[138/191] Installing libXt-0:1.3.1-1.fc 100% | 212.0 MiB/s | 434.2 KiB |  00m00s
[139/191] Installing libXmu-0:1.2.1-2.f 100% | 189.0 MiB/s | 193.5 KiB |  00m00s
[140/191] Installing libXtst-0:1.2.5-1. 100% |   6.8 MiB/s |  34.7 KiB |  00m00s
[141/191] Installing pango-0:1.55.0-1.f 100% |  61.3 MiB/s |   1.0 MiB |  00m00s
[142/191] Installing libXext-devel-0:1. 100% |  54.2 MiB/s | 110.9 KiB |  00m00s
[143/191] Installing harfbuzz-cairo-0:1 100% |  53.9 MiB/s |  55.2 KiB |  00m00s
[144/191] Installing fontconfig-devel-0 100% |  29.7 MiB/s | 151.9 KiB |  00m00s
[145/191] Installing freetype-devel-0:2 100% | 275.6 MiB/s |   8.5 MiB |  00m00s
[146/191] Installing cairo-devel-0:1.18 100% | 381.8 MiB/s |   2.3 MiB |  00m00s
[147/191] Installing harfbuzz-devel-0:1 100% | 215.4 MiB/s |   5.2 MiB |  00m00s
[148/191] Installing libXft-devel-0:2.3 100% |  21.6 MiB/s |  44.3 KiB |  00m00s
[149/191] Installing tk-devel-1:8.6.15- 100% | 168.5 MiB/s |   1.0 MiB |  00m00s
[150/191] Installing libXcomposite-0:0. 100% |   0.0   B/s |  46.1 KiB |  00m00s
[151/191] Installing java-21-openjdk-1: 100% |  99.6 MiB/s |   1.1 MiB |  00m00s
[152/191] Installing java-21-openjdk-de 100% | 280.9 MiB/s |  11.2 MiB |  00m00s
[153/191] Installing less-0:668-1.fc42. 100% |  10.5 MiB/s | 409.7 KiB |  00m00s
[154/191] Installing R-core-0:4.4.2-2.f 100% | 263.8 MiB/s | 103.7 MiB |  00m00s
[155/191] Installing R-CRAN-rlang-0:1.1 100% | 169.3 MiB/s |   2.7 MiB |  00m00s
[156/191] Installing R-CRAN-xfun-0:0.50 100% | 144.1 MiB/s |   1.0 MiB |  00m00s
[157/191] Installing R-CRAN-fastmap-0:1 100% |  56.1 MiB/s | 114.9 KiB |  00m00s
[158/191] Installing R-CRAN-jsonlite-0: 100% | 471.8 MiB/s |   2.4 MiB |  00m00s
[159/191] Installing R-CRAN-yaml-0:2.3. 100% | 138.9 MiB/s | 284.4 KiB |  00m00s
[160/191] Installing R-CRAN-cachem-0:1. 100% | 108.6 MiB/s | 111.2 KiB |  00m00s
[161/191] Installing R-CRAN-base64enc-0 100% |  56.5 MiB/s |  57.8 KiB |  00m00s
[162/191] Installing R-core-devel-0:4.4 100% | 196.5 MiB/s | 402.4 KiB |  00m00s
[163/191] Installing R-CRAN-evaluate-0: 100% |  77.1 MiB/s | 157.8 KiB |  00m00s
[164/191] Installing R-CRAN-memoise-0:2 100% |  89.3 MiB/s |  91.5 KiB |  00m00s
[165/191] Installing R-CRAN-highr-0:0.1 100% |  34.9 MiB/s |  71.5 KiB |  00m00s
[166/191] Installing R-CRAN-knitr-0:1.4 100% | 176.4 MiB/s |   1.8 MiB |  00m00s
[167/191] Installing R-CRAN-tinytex-0:0 100% |  98.7 MiB/s | 202.1 KiB |  00m00s
[168/191] Installing R-littler-0:0.3.19 100% |  10.7 MiB/s | 164.4 KiB |  00m00s
[169/191] Installing R-CRAN-Rcpp-0:1.0. 100% | 304.1 MiB/s |   8.5 MiB |  00m00s
[170/191] Installing R-CRAN-digest-0:0. 100% | 124.8 MiB/s | 511.3 KiB |  00m00s
[171/191] Installing R-CRAN-htmltools-0 100% | 134.4 MiB/s | 550.5 KiB |  00m00s
[172/191] Installing R-CRAN-jquerylib-0 100% | 371.8 MiB/s |   1.5 MiB |  00m00s
[173/191] Installing R-CRAN-fontawesome 100% | 406.4 MiB/s |   2.0 MiB |  00m00s
[174/191] Installing R-rpm-macros-0:1.2 100% |   0.0   B/s |   6.6 KiB |  00m00s
[175/191] Installing R-java-0:4.4.2-2.f 100% |   0.0   B/s | 124.0   B |  00m00s
[176/191] Installing R-java-devel-0:4.4 100% |   0.0   B/s | 124.0   B |  00m00s
[177/191] Installing R-CRAN-mime-0:0.12 100% |  29.7 MiB/s |  60.8 KiB |  00m00s
[178/191] Installing R-CRAN-cli-0:3.6.3 100% | 202.8 MiB/s |   2.4 MiB |  00m00s
[179/191] Installing R-CRAN-glue-0:1.8. 100% | 117.5 MiB/s | 361.0 KiB |  00m00s
[180/191] Installing R-CRAN-lifecycle-0 100% | 144.5 MiB/s | 295.9 KiB |  00m00s
[181/191] Installing R-CRAN-R6-0:2.5.1- 100% | 118.7 MiB/s | 121.6 KiB |  00m00s
[182/191] Installing R-CRAN-fs-0:1.6.5- 100% | 151.4 MiB/s | 620.3 KiB |  00m00s
[183/191] Installing R-CRAN-rappdirs-0: 100% |  46.3 MiB/s |  94.8 KiB |  00m00s
[184/191] Installing R-CRAN-sass-0:0.4. 100% | 281.2 MiB/s |   4.2 MiB |  00m00s
[185/191] Installing R-CRAN-bslib-0:0.8 100% | 254.8 MiB/s |  10.2 MiB |  00m00s
[186/191] Installing R-CRAN-rmarkdown-0 100% | 299.8 MiB/s |   6.9 MiB |  00m00s
[187/191] Installing R-CRAN-htmlwidgets 100% | 409.1 MiB/s |   2.0 MiB |  00m00s
[188/191] Installing R-devel-0:4.4.2-2. 100% | 121.1 KiB/s | 124.0   B |  00m00s
[189/191] Installing R-CRAN-RcppEigen-0 100% | 304.5 MiB/s |   9.1 MiB |  00m00s
[190/191] Installing annobin-plugin-gcc 100% |  64.7 MiB/s | 994.5 KiB |  00m00s
[191/191] Installing gcc-plugin-annobin 100% | 174.7 KiB/s |  59.2 KiB |  00m00s
Warning: skipped OpenPGP checks for 29 packages from repository: copr_base
Complete!
Finish: build setup for R-CRAN-imuf-0.5.1-1.fc42.copr8518388.src.rpm
Start: rpmbuild R-CRAN-imuf-0.5.1-1.fc42.copr8518388.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.I86vib
+ umask 022
+ cd /builddir/build/BUILD/R-CRAN-imuf-0.5.1-build
+ test -d /builddir/build/BUILD/R-CRAN-imuf-0.5.1-build
+ /usr/bin/chmod -Rf a+rX,u+w,g-w,o-w /builddir/build/BUILD/R-CRAN-imuf-0.5.1-build
+ /usr/bin/rm -rf /builddir/build/BUILD/R-CRAN-imuf-0.5.1-build
+ /usr/bin/mkdir -p /builddir/build/BUILD/R-CRAN-imuf-0.5.1-build
+ /usr/bin/mkdir -p /builddir/build/BUILD/R-CRAN-imuf-0.5.1-build/SPECPARTS
+ RPM_EC=0
++ jobs -p
+ exit 0
Executing(%prep): /bin/sh -e /var/tmp/rpm-tmp.VgTphM
+ umask 022
+ cd /builddir/build/BUILD/R-CRAN-imuf-0.5.1-build
+ cd /builddir/build/BUILD/R-CRAN-imuf-0.5.1-build
+ rm -rf imuf
+ /usr/bin/mkdir -p imuf
+ cd imuf
+ /usr/lib/rpm/rpmuncompress -x /builddir/build/SOURCES/imuf_0.5.1.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.CKYqWQ
+ umask 022
+ cd /builddir/build/BUILD/R-CRAN-imuf-0.5.1-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.8DDUPq
+ umask 022
+ cd /builddir/build/BUILD/R-CRAN-imuf-0.5.1-build
+ '[' /builddir/build/BUILD/R-CRAN-imuf-0.5.1-build/BUILDROOT '!=' / ']'
+ rm -rf /builddir/build/BUILD/R-CRAN-imuf-0.5.1-build/BUILDROOT
++ dirname /builddir/build/BUILD/R-CRAN-imuf-0.5.1-build/BUILDROOT
+ mkdir -p /builddir/build/BUILD/R-CRAN-imuf-0.5.1-build
+ mkdir /builddir/build/BUILD/R-CRAN-imuf-0.5.1-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-0.5.1-build/BUILDROOT/usr/local/lib/R/library
+ /usr/bin/R CMD INSTALL -l /builddir/build/BUILD/R-CRAN-imuf-0.5.1-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 20241104 (Red Hat 14.2.1-6)’
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:34:40:   required from here
   34 |   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:34:40:   required from here
   34 |   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:34:41:   required from here
   34 |   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:34:41:   required from here
   34 |   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:85:25:   required from here
   85 |     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:97:38:   required from here
   97 |   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:97:38:   required from here
   97 |   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::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:   required from ‘class Eigen::internal::BlockImpl_dense<const Eigen::Matrix<double, 4, 1>, 3, 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:   required from ‘class Eigen::BlockImpl<const 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<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);
      |                  ~~~~~~~~~^~
imuf.cpp:123:43:   required from here
  123 |   const VectorXd vout = q._transformVector(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, 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::CwiseNullaryOp<Eigen::internal::scalar_constant_op<double>, const Eigen::Matrix<double, 3, 1> >, 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::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);
      |                ~~~~~~~~~~^~~~
imuf.cpp:123:43:   required from here
  123 |   const VectorXd vout = q._transformVector(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::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);
      |                ~~~~~~~~~~^~~~
imuf.cpp:123:43:   required from here
  123 |   const VectorXd vout = q._transformVector(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::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);
      |            ~~^~~~~~~~~~~~~~~~
imuf.cpp:123:43:   required from here
  123 |   const VectorXd vout = q._transformVector(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::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);
      |            ~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~
imuf.cpp:123:43:   required from here
  123 |   const VectorXd vout = q._transformVector(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/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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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);
      |                  ~~~~~~~~~~~~~~~~~^~~
imuf.cpp:123:43:   required from here
  123 |   const VectorXd vout = q._transformVector(v);
      |                         ~~~~~~~~~~~~~~~~~~^~~
/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, 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:79:42:   required from here
   79 |   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:87:16:   required from here
   87 |   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::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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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, -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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:97:38:   required from here
   97 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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:94:63:   required from here
   94 |   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-0.5.1-build/BUILDROOT/usr/local/lib/R/library/00LOCK-imuf/00new/imuf/libs
** R
** data
*** moving datasets to lazyload DB
** inst
** byte-compile and prepare package for lazy loading
** help
*** installing help indices
  converting help for package ‘imuf’
    finding HTML links ... done
    animate_imu-shiny                       html  
    animate_imu                             html  
    compUpdate                              html  
    imuf-package                            html  
    rotV                                    html  
    walking_shin_1                          html  
*** copying figures
** building package indices
** installing vignettes
** 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-0.5.1-build/BUILDROOT/usr/local/lib/R/library/R.css
+ find /builddir/build/BUILD/R-CRAN-imuf-0.5.1-build/BUILDROOT/usr/local/lib/R/library -type f -exec sed -i s@/builddir/build/BUILD/R-CRAN-imuf-0.5.1-build/BUILDROOT@@g '{}' ';'
+ /usr/bin/find-debuginfo -j4 --strict-build-id -m -i --build-id-seed 0.5.1-1.fc42.copr8518388 --unique-debug-suffix -0.5.1-1.fc42.copr8518388.x86_64 --unique-debug-src-base R-CRAN-imuf-0.5.1-1.fc42.copr8518388.x86_64 --run-dwz --dwz-low-mem-die-limit 10000000 --dwz-max-die-limit 110000000 -S debugsourcefiles.list /builddir/build/BUILD/R-CRAN-imuf-0.5.1-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-0.5.1-1.fc42.copr8518388.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 -j4
+ /usr/lib/rpm/redhat/brp-python-hardlink
+ /usr/bin/add-determinism --brp -j4 /builddir/build/BUILD/R-CRAN-imuf-0.5.1-build/BUILDROOT
Handler jar skipped: jar handler requires $SOURCE_DATE_EPOCH to be set
Handler zip skipped: zip handler requires $SOURCE_DATE_EPOCH to be set
Scanned 30 directories and 56 files,
               processed 19 inodes,
               0 modified (0 replaced + 0 rewritten),
               0 unsupported format, 0 errors
Reading /builddir/build/BUILD/R-CRAN-imuf-0.5.1-build/SPECPARTS/rpm-debuginfo.specpart
Processing files: R-CRAN-imuf-0.5.1-1.fc42.copr8518388.x86_64
Provides: R-CRAN-imuf = 0.5.1-1.fc42.copr8518388 R-CRAN-imuf(x86-64) = 0.5.1-1.fc42.copr8518388
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-0.5.1-1.fc42.copr8518388.x86_64
Provides: R-CRAN-imuf-debugsource = 0.5.1-1.fc42.copr8518388 R-CRAN-imuf-debugsource(x86-64) = 0.5.1-1.fc42.copr8518388
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-0.5.1-1.fc42.copr8518388.x86_64
Provides: R-CRAN-imuf-debuginfo = 0.5.1-1.fc42.copr8518388 R-CRAN-imuf-debuginfo(x86-64) = 0.5.1-1.fc42.copr8518388 debuginfo(build-id) = f41466edacebece5da7de0efc79566a2caf24a67
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) = 0.5.1-1.fc42.copr8518388
Checking for unpackaged file(s): /usr/lib/rpm/check-files /builddir/build/BUILD/R-CRAN-imuf-0.5.1-build/BUILDROOT
Wrote: /builddir/build/RPMS/R-CRAN-imuf-debugsource-0.5.1-1.fc42.copr8518388.x86_64.rpm
Wrote: /builddir/build/RPMS/R-CRAN-imuf-0.5.1-1.fc42.copr8518388.x86_64.rpm
Wrote: /builddir/build/RPMS/R-CRAN-imuf-debuginfo-0.5.1-1.fc42.copr8518388.x86_64.rpm
Executing(rmbuild): /bin/sh -e /var/tmp/rpm-tmp.RIzCgJ
+ umask 022
+ cd /builddir/build/BUILD/R-CRAN-imuf-0.5.1-build
+ test -d /builddir/build/BUILD/R-CRAN-imuf-0.5.1-build
+ /usr/bin/chmod -Rf a+rX,u+w,g-w,o-w /builddir/build/BUILD/R-CRAN-imuf-0.5.1-build
+ rm -rf /builddir/build/BUILD/R-CRAN-imuf-0.5.1-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-0.5.1-1.fc42.copr8518388.src.rpm
Finish: build phase for R-CRAN-imuf-0.5.1-1.fc42.copr8518388.src.rpm
INFO: chroot_scan: 1 files copied to /var/lib/copr-rpmbuild/results/chroot_scan
INFO: /var/lib/mock/fedora-rawhide-x86_64-1736992065.645037/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-0.5.1-1.fc42.copr8518388.src.rpm) Config(child) 0 minutes 39 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": "0.5.1",
            "release": "1.fc42.copr8518388",
            "arch": "src"
        },
        {
            "name": "R-CRAN-imuf",
            "epoch": null,
            "version": "0.5.1",
            "release": "1.fc42.copr8518388",
            "arch": "x86_64"
        },
        {
            "name": "R-CRAN-imuf-debuginfo",
            "epoch": null,
            "version": "0.5.1",
            "release": "1.fc42.copr8518388",
            "arch": "x86_64"
        },
        {
            "name": "R-CRAN-imuf-debugsource",
            "epoch": null,
            "version": "0.5.1",
            "release": "1.fc42.copr8518388",
            "arch": "x86_64"
        }
    ]
}
RPMResults finished