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  1. [ 10%] Building CXX object algorithm/CMakeFiles/algorithm.dir/geometry.cc.o
  2. Linking CXX static library libalgorithm.a
  3. [ 10%] Built target algorithm
  4. [ 20%] Building CXX object utility/CMakeFiles/ridi_utility.dir/data_io.cc.o
  5. Linking CXX static library libridi_utility.a
  6. [ 20%] Built target ridi_utility
  7. [ 30%] Building CXX object utility/stlplus3/CMakeFiles/stlplus3.dir/file_system.cpp.o
  8. [ 40%] Building CXX object utility/stlplus3/CMakeFiles/stlplus3.dir/portability_fixes.cpp.o
  9. [ 50%] Building CXX object utility/stlplus3/CMakeFiles/stlplus3.dir/wildcard.cpp.o
  10. Linking CXX static library libstlplus3.a
  11. [ 50%] Built target stlplus3
  12. [ 60%] Building CXX object imu_optimization/CMakeFiles/IMUOptimization.dir/imu_optimization.cc.o
  13. Linking CXX static library libIMUOptimization.a
  14. [ 60%] Built target IMUOptimization
  15. [ 70%] Building CXX object speed_regression/CMakeFiles/ridi_regression.dir/feature_target.cc.o
  16. [ 80%] Building CXX object speed_regression/CMakeFiles/ridi_regression.dir/model_wrapper.cc.o
  17. Linking CXX static library libridi_regression.a
  18. [ 80%] Built target ridi_regression
  19. [ 90%] Building CXX object imu_localization/CMakeFiles/IMULocalization_cli.dir/imu_localization.cc.o
  20.  
  21. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  22. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  23. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h: In instantiation of ‘bool ridi::LocalSpeedFunctor<KVARIABLE, KCONSTRAINT>::operator()(const T*, const T*, const T*, T*) const [with T = ceres::Jet<double, 300>; int KVARIABLE = 100; int KCONSTRAINT = 200]’:
  24. /usr/local/include/ceres/internal/variadic_evaluate.h:159:26: required from ‘static bool ceres::internal::VariadicEvaluate<Functor, T, N0, N1, N2, 0, 0, 0, 0, 0, 0, 0>::Call(const Functor&, const T* const*, T*) [with Functor = ridi::LocalSpeedFunctor<100, 200>; T = ceres::Jet<double, 300>; int N0 = 100; int N1 = 100; int N2 = 100]’
  25. /usr/local/include/ceres/internal/autodiff.h:290:45: required from ‘static bool ceres::internal::AutoDiff<Functor, T, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>::Differentiate(const Functor&, const T* const*, int, T*, T**) [with Functor = ridi::LocalSpeedFunctor<100, 200>; T = double; int N0 = 100; int N1 = 100; int N2 = 100; int N3 = 0; int N4 = 0; int N5 = 0; int N6 = 0; int N7 = 0; int N8 = 0; int N9 = 0]’
  26. /usr/local/include/ceres/autodiff_cost_function.h:218:25: required from ‘bool ceres::AutoDiffCostFunction<CostFunctor, kNumResiduals, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>::Evaluate(const double* const*, double*, double**) const [with CostFunctor = ridi::LocalSpeedFunctor<100, 200>; int kNumResiduals = 600; int N0 = 100; int N1 = 100; int N2 = 100; int N3 = 0; int N4 = 0; int N5 = 0; int N6 = 0; int N7 = 0; int N8 = 0; int N9 = 0]’
  27. /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:267:1: required from here
  28. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: error: no match for ‘operator*’ (operand types are ‘double’ and ‘Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>’)
  29. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  30. ^
  31. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: candidates are:
  32. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  33. from /usr/include/eigen3/Eigen/Dense:1,
  34. from /usr/include/eigen3/Eigen/Eigen:1,
  35. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  36. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  37. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<9, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Matrix<double, -1, -1, 0, 3, 2>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Matrix<double, -1, -1, 0, 3, 2>, 9u>&)
  38. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  39. ^
  40. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  41. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  42. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  43. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  44. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  45. ^
  46. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  47. from /usr/include/eigen3/Eigen/Dense:1,
  48. from /usr/include/eigen3/Eigen/Eigen:1,
  49. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  50. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  51. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<10, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Matrix<double, 3, 3>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Matrix<double, 3, 3>, 10u>&)
  52. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  53. ^
  54. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  55. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  56. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  57. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  58. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  59. ^
  60. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  61. from /usr/include/eigen3/Eigen/Dense:1,
  62. from /usr/include/eigen3/Eigen/Eigen:1,
  63. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  64. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  65. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<9, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 9u>&)
  66. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  67. ^
  68. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  69. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  70. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  71. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  72. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  73. ^
  74. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  75. from /usr/include/eigen3/Eigen/Dense:1,
  76. from /usr/include/eigen3/Eigen/Eigen:1,
  77. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  78. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  79. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<1, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 1u>&)
  80. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  81. ^
  82. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  83. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  84. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  85. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  86. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  87. ^
  88. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  89. from /usr/include/eigen3/Eigen/Dense:1,
  90. from /usr/include/eigen3/Eigen/Eigen:1,
  91. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  92. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  93. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<2, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 2u>&)
  94. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  95. ^
  96. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  97. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  98. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  99. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  100. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  101. ^
  102. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  103. from /usr/include/eigen3/Eigen/Dense:1,
  104. from /usr/include/eigen3/Eigen/Eigen:1,
  105. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  106. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  107. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:251:33: note: template<class Other> Eigen::PermutationBase<Eigen::PermutationMatrix<2, 2, int> >::PlainPermutationType Eigen::operator*(const Eigen::Transpose<Eigen::PermutationBase<Derived> >&, const Eigen::PermutationBase<Eigen::PermutationMatrix<2, 2, int> >&)
  108. inline PlainPermutationType operator*(const Transpose<PermutationBase<Other> >& other, const PermutationBase& perm)
  109. ^
  110. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:251:33: note: template argument deduction/substitution failed:
  111. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  112. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  113. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::Transpose<Eigen::PermutationBase<Derived> >’ and ‘double’
  114. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  115. ^
  116. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  117. from /usr/include/eigen3/Eigen/Dense:6,
  118. from /usr/include/eigen3/Eigen/Eigen:1,
  119. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  120. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  121. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::AngleAxis<double>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::AngleAxis<double>&)
  122. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  123. ^
  124. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  125. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  126. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  127. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  128. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  129. ^
  130. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  131. from /usr/include/eigen3/Eigen/Dense:6,
  132. from /usr/include/eigen3/Eigen/Eigen:1,
  133. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  134. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  135. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template<class DiagonalDerived> Eigen::Transform<double, 3, 2>::TransformTimeDiagonalReturnType Eigen::operator*(const Eigen::DiagonalBase<T>&, const Eigen::Transform<double, 3, 2>&)
  136. operator * (const DiagonalBase<DiagonalDerived> &a, const Transform &b)
  137. ^
  138. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template argument deduction/substitution failed:
  139. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  140. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  141. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::DiagonalBase<T>’ and ‘double’
  142. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  143. ^
  144. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  145. from /usr/include/eigen3/Eigen/Dense:6,
  146. from /usr/include/eigen3/Eigen/Eigen:1,
  147. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  148. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  149. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template<class OtherDerived> const typename Eigen::internal::transform_left_product_impl<OtherDerived, 2, 0, 3, 4, OtherDerived:: RowsAtCompileTime, OtherDerived:: ColsAtCompileTime>::ResultType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Transform<double, 3, 2>&)
  150. operator * (const EigenBase<OtherDerived> &a, const Transform &b)
  151. ^
  152. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template argument deduction/substitution failed:
  153. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  154. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  155. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  156. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  157. ^
  158. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  159. from /usr/include/eigen3/Eigen/Dense:6,
  160. from /usr/include/eigen3/Eigen/Eigen:1,
  161. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  162. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  163. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template<class DiagonalDerived> Eigen::Transform<double, 3, 2, 1>::TransformTimeDiagonalReturnType Eigen::operator*(const Eigen::DiagonalBase<T>&, const Eigen::Transform<double, 3, 2, 1>&)
  164. operator * (const DiagonalBase<DiagonalDerived> &a, const Transform &b)
  165. ^
  166. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template argument deduction/substitution failed:
  167. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  168. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  169. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::DiagonalBase<T>’ and ‘double’
  170. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  171. ^
  172. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  173. from /usr/include/eigen3/Eigen/Dense:6,
  174. from /usr/include/eigen3/Eigen/Eigen:1,
  175. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  176. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  177. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template<class OtherDerived> const typename Eigen::internal::transform_left_product_impl<OtherDerived, 2, 1, 3, 4, OtherDerived:: RowsAtCompileTime, OtherDerived:: ColsAtCompileTime>::ResultType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Transform<double, 3, 2, 1>&)
  178. operator * (const EigenBase<OtherDerived> &a, const Transform &b)
  179. ^
  180. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template argument deduction/substitution failed:
  181. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  182. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  183. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  184. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  185. ^
  186. In file included from /usr/include/eigen3/Eigen/Geometry:43:0,
  187. from /usr/include/eigen3/Eigen/Dense:6,
  188. from /usr/include/eigen3/Eigen/Eigen:1,
  189. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  190. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  191. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template<class OtherDerived> Eigen::Translation<double, 3>::AffineTransformType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Translation<double, 3>&)
  192. inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
  193. ^
  194. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template argument deduction/substitution failed:
  195. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  196. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  197. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  198. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  199. ^
  200. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  201. from /usr/include/eigen3/Eigen/Dense:6,
  202. from /usr/include/eigen3/Eigen/Eigen:1,
  203. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  204. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  205. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<double>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<double>&)
  206. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  207. ^
  208. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  209. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  210. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  211. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  212. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  213. ^
  214. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  215. from /usr/include/eigen3/Eigen/Dense:6,
  216. from /usr/include/eigen3/Eigen/Eigen:1,
  217. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  218. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  219. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<float>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<float>&)
  220. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  221. ^
  222. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  223. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  224. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  225. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  226. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  227. ^
  228. In file included from /usr/include/eigen3/Eigen/Householder:17:0,
  229. from /usr/include/eigen3/Eigen/QR:10,
  230. from /usr/include/eigen3/Eigen/Dense:4,
  231. from /usr/include/eigen3/Eigen/Eigen:1,
  232. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  233. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  234. /usr/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:409:99: note: template<class OtherDerived, class VectorsType, class CoeffsType, int Side> typename Eigen::internal::matrix_type_times_scalar_type<typename VectorsType::Scalar, OtherDerived>::Type Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::HouseholderSequence<VectorsType, CoeffsType, Side>&)
  235. typename internal::matrix_type_times_scalar_type<typename VectorsType::Scalar,OtherDerived>::Type operator*(const MatrixBase<OtherDerived>& other, const HouseholderSequence<VectorsType,CoeffsType,Side>& h)
  236. ^
  237. /usr/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:409:99: note: template argument deduction/substitution failed:
  238. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  239. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  240. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  241. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  242. ^
  243. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  244. from /usr/include/eigen3/Eigen/Dense:1,
  245. from /usr/include/eigen3/Eigen/Eigen:1,
  246. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  247. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  248. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:216:1: note: template<class Derived, class Lhs, class Rhs> typename Eigen::internal::enable_if<(! Eigen::internal::is_same<typename Derived::Scalar, typename Derived::RealScalar>::value), const Eigen::ScaledProduct<Derived> >::type Eigen::operator*(const typename Derived::RealScalar&, const Eigen::ProductBase<Derived, _Lhs, _Rhs>&)
  249. operator*(const typename Derived::RealScalar& x,const ProductBase<Derived,Lhs,Rhs>& prod)
  250. ^
  251. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:216:1: note: template argument deduction/substitution failed:
  252. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  253. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  254. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: ‘Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>’ is not derived from ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’
  255. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  256. ^
  257. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  258. from /usr/include/eigen3/Eigen/Dense:1,
  259. from /usr/include/eigen3/Eigen/Eigen:1,
  260. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  261. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  262. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:210:1: note: template<class Derived, class Lhs, class Rhs> const Eigen::ScaledProduct<Derived> Eigen::operator*(const typename Derived::Scalar&, const Eigen::ProductBase<Derived, _Lhs, _Rhs>&)
  263. operator*(const typename Derived::Scalar& x,const ProductBase<Derived,Lhs,Rhs>& prod)
  264. ^
  265. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:210:1: note: template argument deduction/substitution failed:
  266. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  267. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  268. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: ‘Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>’ is not derived from ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’
  269. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  270. ^
  271. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  272. from /usr/include/eigen3/Eigen/Dense:1,
  273. from /usr/include/eigen3/Eigen/Eigen:1,
  274. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  275. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  276. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:204:1: note: template<class Derived, class Lhs, class Rhs> typename Eigen::internal::enable_if<(! Eigen::internal::is_same<typename Derived::Scalar, typename Derived::RealScalar>::value), const Eigen::ScaledProduct<Derived> >::type Eigen::operator*(const Eigen::ProductBase<Derived, _Lhs, _Rhs>&, const typename Derived::RealScalar&)
  277. operator*(const ProductBase<Derived,Lhs,Rhs>& prod, const typename Derived::RealScalar& x)
  278. ^
  279. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:204:1: note: template argument deduction/substitution failed:
  280. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  281. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  282. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’ and ‘double’
  283. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  284. ^
  285. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  286. from /usr/include/eigen3/Eigen/Dense:1,
  287. from /usr/include/eigen3/Eigen/Eigen:1,
  288. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  289. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  290. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:198:1: note: template<class Derived, class Lhs, class Rhs> const Eigen::ScaledProduct<Derived> Eigen::operator*(const Eigen::ProductBase<Derived, _Lhs, _Rhs>&, const typename Derived::Scalar&)
  291. operator*(const ProductBase<Derived,Lhs,Rhs>& prod, const typename Derived::Scalar& x)
  292. ^
  293. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:198:1: note: template argument deduction/substitution failed:
  294. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  295. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  296. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’ and ‘double’
  297. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  298. ^
  299. In file included from /usr/include/eigen3/Eigen/Core:314:0,
  300. from /usr/include/eigen3/Eigen/Dense:1,
  301. from /usr/include/eigen3/Eigen/Eigen:1,
  302. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  303. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  304. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:344:1: note: template<class Derived, class TranspositionDerived> const Eigen::internal::transposition_matrix_product_retval<TranspositionDerived, Derived, 1> Eigen::operator*(const Eigen::TranspositionsBase<TranspositionsDerived>&, const Eigen::MatrixBase<Derived>&)
  305. operator*(const TranspositionsBase<TranspositionDerived> &transpositions,
  306. ^
  307. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:344:1: note: template argument deduction/substitution failed:
  308. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  309. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  310. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::TranspositionsBase<TranspositionsDerived>’ and ‘double’
  311. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  312. ^
  313. In file included from /usr/include/eigen3/Eigen/Core:314:0,
  314. from /usr/include/eigen3/Eigen/Dense:1,
  315. from /usr/include/eigen3/Eigen/Eigen:1,
  316. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  317. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  318. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:331:1: note: template<class Derived, class TranspositionsDerived> const Eigen::internal::transposition_matrix_product_retval<TranspositionsDerived, Derived, 2> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TranspositionsBase<TranspositionsDerived>&)
  319. operator*(const MatrixBase<Derived>& matrix,
  320. ^
  321. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:331:1: note: template argument deduction/substitution failed:
  322. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  323. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  324. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  325. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  326. ^
  327. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  328. from /usr/include/eigen3/Eigen/Dense:1,
  329. from /usr/include/eigen3/Eigen/Eigen:1,
  330. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  331. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  332. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:523:1: note: template<class Derived, class PermutationDerived> const Eigen::internal::permut_matrix_product_retval<PermutationDerived, Derived, 1> Eigen::operator*(const Eigen::PermutationBase<PermutationDerived>&, const Eigen::MatrixBase<Derived>&)
  333. operator*(const PermutationBase<PermutationDerived> &permutation,
  334. ^
  335. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:523:1: note: template argument deduction/substitution failed:
  336. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  337. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  338. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::PermutationBase<PermutationDerived>’ and ‘double’
  339. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  340. ^
  341. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  342. from /usr/include/eigen3/Eigen/Dense:1,
  343. from /usr/include/eigen3/Eigen/Eigen:1,
  344. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  345. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  346. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:510:1: note: template<class Derived, class PermutationDerived> const Eigen::internal::permut_matrix_product_retval<PermutationDerived, Derived, 2> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::PermutationBase<PermutationDerived>&)
  347. operator*(const MatrixBase<Derived>& matrix,
  348. ^
  349. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:510:1: note: template argument deduction/substitution failed:
  350. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  351. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  352. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  353. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  354. ^
  355. In file included from /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:136:0,
  356. from /usr/include/eigen3/Eigen/Core:279,
  357. from /usr/include/eigen3/Eigen/Dense:1,
  358. from /usr/include/eigen3/Eigen/Eigen:1,
  359. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  360. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  361. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:80:1: note: const Eigen::CwiseUnaryOp<Eigen::internal::scalar_multiple2_op<ceres::Jet<double, 300>, std::complex<ceres::Jet<double, 300> > >, const Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1> > Eigen::operator*(const std::complex<ceres::Jet<double, 300> >&, const StorageBaseType&)
  362. operator*(const std::complex<Scalar>& scalar, const StorageBaseType& matrix)
  363. ^
  364. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:80:1: note: no known conversion for argument 1 from ‘double’ to ‘const std::complex<ceres::Jet<double, 300> >&’
  365. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:76:1: note: const ScalarMultipleReturnType Eigen::operator*(const Scalar&, const StorageBaseType&)
  366. operator*(const Scalar& scalar, const StorageBaseType& matrix)
  367. ^
  368. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:76:1: note: no known conversion for argument 1 from ‘double’ to ‘const Scalar& {aka const ceres::Jet<double, 300>&}’
  369. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  370. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  371. from /usr/local/include/ceres/ceres.h:37,
  372. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  373. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  374. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  375. /usr/local/include/ceres/jet.h:368:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(T, const ceres::Jet<T, N>&)
  376. Jet<T, N> operator*(T s, const Jet<T, N>& f) {
  377. ^
  378. /usr/local/include/ceres/jet.h:368:11: note: template argument deduction/substitution failed:
  379. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  380. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  381. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: ‘Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>’ is not derived from ‘const ceres::Jet<T, N>’
  382. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  383. ^
  384. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  385. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  386. from /usr/local/include/ceres/ceres.h:37,
  387. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  388. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  389. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  390. /usr/local/include/ceres/jet.h:362:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(const ceres::Jet<T, N>&, T)
  391. Jet<T, N> operator*(const Jet<T, N>& f, T s) {
  392. ^
  393. /usr/local/include/ceres/jet.h:362:11: note: template argument deduction/substitution failed:
  394. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  395. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  396. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const ceres::Jet<T, N>’ and ‘double’
  397. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  398. ^
  399. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  400. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  401. from /usr/local/include/ceres/ceres.h:37,
  402. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  403. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  404. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  405. /usr/local/include/ceres/jet.h:355:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(const ceres::Jet<T, N>&, const ceres::Jet<T, N>&)
  406. Jet<T, N> operator*(const Jet<T, N>& f,
  407. ^
  408. /usr/local/include/ceres/jet.h:355:11: note: template argument deduction/substitution failed:
  409. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  410. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  411. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const ceres::Jet<T, N>’ and ‘double’
  412. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  413. ^
  414. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: error: no match for ‘operator*’ (operand types are ‘double’ and ‘Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>’)
  415. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  416. ^
  417. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: candidates are:
  418. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  419. from /usr/include/eigen3/Eigen/Dense:1,
  420. from /usr/include/eigen3/Eigen/Eigen:1,
  421. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  422. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  423. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<9, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Matrix<double, -1, -1, 0, 3, 2>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Matrix<double, -1, -1, 0, 3, 2>, 9u>&)
  424. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  425. ^
  426. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  427. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  428. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  429. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  430. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  431. ^
  432. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  433. from /usr/include/eigen3/Eigen/Dense:1,
  434. from /usr/include/eigen3/Eigen/Eigen:1,
  435. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  436. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  437. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<10, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Matrix<double, 3, 3>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Matrix<double, 3, 3>, 10u>&)
  438. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  439. ^
  440. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  441. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  442. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  443. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  444. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  445. ^
  446. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  447. from /usr/include/eigen3/Eigen/Dense:1,
  448. from /usr/include/eigen3/Eigen/Eigen:1,
  449. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  450. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  451. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<9, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 9u>&)
  452. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  453. ^
  454. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  455. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  456. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  457. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  458. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  459. ^
  460. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  461. from /usr/include/eigen3/Eigen/Dense:1,
  462. from /usr/include/eigen3/Eigen/Eigen:1,
  463. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  464. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  465. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<1, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 1u>&)
  466. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  467. ^
  468. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  469. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  470. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  471. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  472. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  473. ^
  474. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  475. from /usr/include/eigen3/Eigen/Dense:1,
  476. from /usr/include/eigen3/Eigen/Eigen:1,
  477. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  478. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  479. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<2, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 2u>&)
  480. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  481. ^
  482. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  483. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  484. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  485. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  486. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  487. ^
  488. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  489. from /usr/include/eigen3/Eigen/Dense:1,
  490. from /usr/include/eigen3/Eigen/Eigen:1,
  491. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  492. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  493. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:251:33: note: template<class Other> Eigen::PermutationBase<Eigen::PermutationMatrix<2, 2, int> >::PlainPermutationType Eigen::operator*(const Eigen::Transpose<Eigen::PermutationBase<Derived> >&, const Eigen::PermutationBase<Eigen::PermutationMatrix<2, 2, int> >&)
  494. inline PlainPermutationType operator*(const Transpose<PermutationBase<Other> >& other, const PermutationBase& perm)
  495. ^
  496. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:251:33: note: template argument deduction/substitution failed:
  497. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  498. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  499. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::Transpose<Eigen::PermutationBase<Derived> >’ and ‘double’
  500. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  501. ^
  502. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  503. from /usr/include/eigen3/Eigen/Dense:6,
  504. from /usr/include/eigen3/Eigen/Eigen:1,
  505. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  506. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  507. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::AngleAxis<double>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::AngleAxis<double>&)
  508. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  509. ^
  510. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  511. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  512. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  513. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  514. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  515. ^
  516. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  517. from /usr/include/eigen3/Eigen/Dense:6,
  518. from /usr/include/eigen3/Eigen/Eigen:1,
  519. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  520. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  521. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template<class DiagonalDerived> Eigen::Transform<double, 3, 2>::TransformTimeDiagonalReturnType Eigen::operator*(const Eigen::DiagonalBase<T>&, const Eigen::Transform<double, 3, 2>&)
  522. operator * (const DiagonalBase<DiagonalDerived> &a, const Transform &b)
  523. ^
  524. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template argument deduction/substitution failed:
  525. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  526. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  527. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::DiagonalBase<T>’ and ‘double’
  528. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  529. ^
  530. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  531. from /usr/include/eigen3/Eigen/Dense:6,
  532. from /usr/include/eigen3/Eigen/Eigen:1,
  533. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  534. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  535. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template<class OtherDerived> const typename Eigen::internal::transform_left_product_impl<OtherDerived, 2, 0, 3, 4, OtherDerived:: RowsAtCompileTime, OtherDerived:: ColsAtCompileTime>::ResultType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Transform<double, 3, 2>&)
  536. operator * (const EigenBase<OtherDerived> &a, const Transform &b)
  537. ^
  538. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template argument deduction/substitution failed:
  539. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  540. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  541. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  542. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  543. ^
  544. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  545. from /usr/include/eigen3/Eigen/Dense:6,
  546. from /usr/include/eigen3/Eigen/Eigen:1,
  547. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  548. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  549. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template<class DiagonalDerived> Eigen::Transform<double, 3, 2, 1>::TransformTimeDiagonalReturnType Eigen::operator*(const Eigen::DiagonalBase<T>&, const Eigen::Transform<double, 3, 2, 1>&)
  550. operator * (const DiagonalBase<DiagonalDerived> &a, const Transform &b)
  551. ^
  552. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template argument deduction/substitution failed:
  553. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  554. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  555. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::DiagonalBase<T>’ and ‘double’
  556. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  557. ^
  558. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  559. from /usr/include/eigen3/Eigen/Dense:6,
  560. from /usr/include/eigen3/Eigen/Eigen:1,
  561. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  562. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  563. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template<class OtherDerived> const typename Eigen::internal::transform_left_product_impl<OtherDerived, 2, 1, 3, 4, OtherDerived:: RowsAtCompileTime, OtherDerived:: ColsAtCompileTime>::ResultType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Transform<double, 3, 2, 1>&)
  564. operator * (const EigenBase<OtherDerived> &a, const Transform &b)
  565. ^
  566. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template argument deduction/substitution failed:
  567. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  568. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  569. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  570. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  571. ^
  572. In file included from /usr/include/eigen3/Eigen/Geometry:43:0,
  573. from /usr/include/eigen3/Eigen/Dense:6,
  574. from /usr/include/eigen3/Eigen/Eigen:1,
  575. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  576. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  577. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template<class OtherDerived> Eigen::Translation<double, 3>::AffineTransformType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Translation<double, 3>&)
  578. inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
  579. ^
  580. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template argument deduction/substitution failed:
  581. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  582. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  583. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  584. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  585. ^
  586. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  587. from /usr/include/eigen3/Eigen/Dense:6,
  588. from /usr/include/eigen3/Eigen/Eigen:1,
  589. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  590. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  591. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<double>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<double>&)
  592. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  593. ^
  594. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  595. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  596. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  597. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  598. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  599. ^
  600. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  601. from /usr/include/eigen3/Eigen/Dense:6,
  602. from /usr/include/eigen3/Eigen/Eigen:1,
  603. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  604. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  605. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<float>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<float>&)
  606. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  607. ^
  608. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  609. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  610. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  611. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  612. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  613. ^
  614. In file included from /usr/include/eigen3/Eigen/Householder:17:0,
  615. from /usr/include/eigen3/Eigen/QR:10,
  616. from /usr/include/eigen3/Eigen/Dense:4,
  617. from /usr/include/eigen3/Eigen/Eigen:1,
  618. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  619. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  620. /usr/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:409:99: note: template<class OtherDerived, class VectorsType, class CoeffsType, int Side> typename Eigen::internal::matrix_type_times_scalar_type<typename VectorsType::Scalar, OtherDerived>::Type Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::HouseholderSequence<VectorsType, CoeffsType, Side>&)
  621. typename internal::matrix_type_times_scalar_type<typename VectorsType::Scalar,OtherDerived>::Type operator*(const MatrixBase<OtherDerived>& other, const HouseholderSequence<VectorsType,CoeffsType,Side>& h)
  622. ^
  623. /usr/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:409:99: note: template argument deduction/substitution failed:
  624. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  625. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  626. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  627. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  628. ^
  629. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  630. from /usr/include/eigen3/Eigen/Dense:1,
  631. from /usr/include/eigen3/Eigen/Eigen:1,
  632. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  633. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  634. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:216:1: note: template<class Derived, class Lhs, class Rhs> typename Eigen::internal::enable_if<(! Eigen::internal::is_same<typename Derived::Scalar, typename Derived::RealScalar>::value), const Eigen::ScaledProduct<Derived> >::type Eigen::operator*(const typename Derived::RealScalar&, const Eigen::ProductBase<Derived, _Lhs, _Rhs>&)
  635. operator*(const typename Derived::RealScalar& x,const ProductBase<Derived,Lhs,Rhs>& prod)
  636. ^
  637. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:216:1: note: template argument deduction/substitution failed:
  638. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  639. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  640. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: ‘Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>’ is not derived from ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’
  641. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  642. ^
  643. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  644. from /usr/include/eigen3/Eigen/Dense:1,
  645. from /usr/include/eigen3/Eigen/Eigen:1,
  646. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  647. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  648. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:210:1: note: template<class Derived, class Lhs, class Rhs> const Eigen::ScaledProduct<Derived> Eigen::operator*(const typename Derived::Scalar&, const Eigen::ProductBase<Derived, _Lhs, _Rhs>&)
  649. operator*(const typename Derived::Scalar& x,const ProductBase<Derived,Lhs,Rhs>& prod)
  650. ^
  651. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:210:1: note: template argument deduction/substitution failed:
  652. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  653. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  654. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: ‘Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>’ is not derived from ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’
  655. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  656. ^
  657. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  658. from /usr/include/eigen3/Eigen/Dense:1,
  659. from /usr/include/eigen3/Eigen/Eigen:1,
  660. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  661. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  662. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:204:1: note: template<class Derived, class Lhs, class Rhs> typename Eigen::internal::enable_if<(! Eigen::internal::is_same<typename Derived::Scalar, typename Derived::RealScalar>::value), const Eigen::ScaledProduct<Derived> >::type Eigen::operator*(const Eigen::ProductBase<Derived, _Lhs, _Rhs>&, const typename Derived::RealScalar&)
  663. operator*(const ProductBase<Derived,Lhs,Rhs>& prod, const typename Derived::RealScalar& x)
  664. ^
  665. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:204:1: note: template argument deduction/substitution failed:
  666. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  667. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  668. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’ and ‘double’
  669. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  670. ^
  671. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  672. from /usr/include/eigen3/Eigen/Dense:1,
  673. from /usr/include/eigen3/Eigen/Eigen:1,
  674. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  675. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  676. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:198:1: note: template<class Derived, class Lhs, class Rhs> const Eigen::ScaledProduct<Derived> Eigen::operator*(const Eigen::ProductBase<Derived, _Lhs, _Rhs>&, const typename Derived::Scalar&)
  677. operator*(const ProductBase<Derived,Lhs,Rhs>& prod, const typename Derived::Scalar& x)
  678. ^
  679. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:198:1: note: template argument deduction/substitution failed:
  680. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  681. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  682. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’ and ‘double’
  683. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  684. ^
  685. In file included from /usr/include/eigen3/Eigen/Core:314:0,
  686. from /usr/include/eigen3/Eigen/Dense:1,
  687. from /usr/include/eigen3/Eigen/Eigen:1,
  688. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  689. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  690. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:344:1: note: template<class Derived, class TranspositionDerived> const Eigen::internal::transposition_matrix_product_retval<TranspositionDerived, Derived, 1> Eigen::operator*(const Eigen::TranspositionsBase<TranspositionsDerived>&, const Eigen::MatrixBase<Derived>&)
  691. operator*(const TranspositionsBase<TranspositionDerived> &transpositions,
  692. ^
  693. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:344:1: note: template argument deduction/substitution failed:
  694. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  695. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  696. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::TranspositionsBase<TranspositionsDerived>’ and ‘double’
  697. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  698. ^
  699. In file included from /usr/include/eigen3/Eigen/Core:314:0,
  700. from /usr/include/eigen3/Eigen/Dense:1,
  701. from /usr/include/eigen3/Eigen/Eigen:1,
  702. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  703. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  704. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:331:1: note: template<class Derived, class TranspositionsDerived> const Eigen::internal::transposition_matrix_product_retval<TranspositionsDerived, Derived, 2> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TranspositionsBase<TranspositionsDerived>&)
  705. operator*(const MatrixBase<Derived>& matrix,
  706. ^
  707. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:331:1: note: template argument deduction/substitution failed:
  708. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  709. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  710. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  711. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  712. ^
  713. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  714. from /usr/include/eigen3/Eigen/Dense:1,
  715. from /usr/include/eigen3/Eigen/Eigen:1,
  716. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  717. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  718. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:523:1: note: template<class Derived, class PermutationDerived> const Eigen::internal::permut_matrix_product_retval<PermutationDerived, Derived, 1> Eigen::operator*(const Eigen::PermutationBase<PermutationDerived>&, const Eigen::MatrixBase<Derived>&)
  719. operator*(const PermutationBase<PermutationDerived> &permutation,
  720. ^
  721. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:523:1: note: template argument deduction/substitution failed:
  722. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  723. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  724. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::PermutationBase<PermutationDerived>’ and ‘double’
  725. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  726. ^
  727. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  728. from /usr/include/eigen3/Eigen/Dense:1,
  729. from /usr/include/eigen3/Eigen/Eigen:1,
  730. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  731. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  732. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:510:1: note: template<class Derived, class PermutationDerived> const Eigen::internal::permut_matrix_product_retval<PermutationDerived, Derived, 2> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::PermutationBase<PermutationDerived>&)
  733. operator*(const MatrixBase<Derived>& matrix,
  734. ^
  735. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:510:1: note: template argument deduction/substitution failed:
  736. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  737. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  738. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  739. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  740. ^
  741. In file included from /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:136:0,
  742. from /usr/include/eigen3/Eigen/Core:279,
  743. from /usr/include/eigen3/Eigen/Dense:1,
  744. from /usr/include/eigen3/Eigen/Eigen:1,
  745. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  746. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  747. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:80:1: note: const Eigen::CwiseUnaryOp<Eigen::internal::scalar_multiple2_op<ceres::Jet<double, 300>, std::complex<ceres::Jet<double, 300> > >, const Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1> > Eigen::operator*(const std::complex<ceres::Jet<double, 300> >&, const StorageBaseType&)
  748. operator*(const std::complex<Scalar>& scalar, const StorageBaseType& matrix)
  749. ^
  750. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:80:1: note: no known conversion for argument 1 from ‘double’ to ‘const std::complex<ceres::Jet<double, 300> >&’
  751. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:76:1: note: const ScalarMultipleReturnType Eigen::operator*(const Scalar&, const StorageBaseType&)
  752. operator*(const Scalar& scalar, const StorageBaseType& matrix)
  753. ^
  754. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:76:1: note: no known conversion for argument 1 from ‘double’ to ‘const Scalar& {aka const ceres::Jet<double, 300>&}’
  755. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  756. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  757. from /usr/local/include/ceres/ceres.h:37,
  758. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  759. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  760. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  761. /usr/local/include/ceres/jet.h:368:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(T, const ceres::Jet<T, N>&)
  762. Jet<T, N> operator*(T s, const Jet<T, N>& f) {
  763. ^
  764. /usr/local/include/ceres/jet.h:368:11: note: template argument deduction/substitution failed:
  765. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  766. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  767. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: ‘Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>’ is not derived from ‘const ceres::Jet<T, N>’
  768. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  769. ^
  770. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  771. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  772. from /usr/local/include/ceres/ceres.h:37,
  773. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  774. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  775. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  776. /usr/local/include/ceres/jet.h:362:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(const ceres::Jet<T, N>&, T)
  777. Jet<T, N> operator*(const Jet<T, N>& f, T s) {
  778. ^
  779. /usr/local/include/ceres/jet.h:362:11: note: template argument deduction/substitution failed:
  780. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  781. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  782. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const ceres::Jet<T, N>’ and ‘double’
  783. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  784. ^
  785. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  786. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  787. from /usr/local/include/ceres/ceres.h:37,
  788. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  789. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  790. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  791. /usr/local/include/ceres/jet.h:355:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(const ceres::Jet<T, N>&, const ceres::Jet<T, N>&)
  792. Jet<T, N> operator*(const Jet<T, N>& f,
  793. ^
  794. /usr/local/include/ceres/jet.h:355:11: note: template argument deduction/substitution failed:
  795. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  796. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  797. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const ceres::Jet<T, N>’ and ‘double’
  798. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  799. ^
  800. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: error: no match for ‘operator*’ (operand types are ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>}’ and ‘double’)
  801. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  802. ^
  803. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: candidates are:
  804. In file included from /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:136:0,
  805. from /usr/include/eigen3/Eigen/Core:279,
  806. from /usr/include/eigen3/Eigen/Dense:1,
  807. from /usr/include/eigen3/Eigen/Eigen:1,
  808. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  809. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  810. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:49:1: note: const ScalarMultipleReturnType Eigen::MatrixBase<Derived>::operator*(const Scalar&) const [with Derived = Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>; Eigen::MatrixBase<Derived>::ScalarMultipleReturnType = Eigen::CwiseUnaryOp<Eigen::internal::scalar_multiple_op<ceres::Jet<double, 300> >, const Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1> >; typename Eigen::internal::traits<T>::Scalar = ceres::Jet<double, 300>; Eigen::MatrixBase<Derived>::Scalar = ceres::Jet<double, 300>]
  811. operator*(const Scalar& scalar) const
  812. ^
  813. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:49:1: note: no known conversion for argument 1 from ‘double’ to ‘const Scalar& {aka const ceres::Jet<double, 300>&}’
  814. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:69:1: note: const Eigen::CwiseUnaryOp<Eigen::internal::scalar_multiple2_op<typename Eigen::internal::traits<T>::Scalar, std::complex<typename Eigen::internal::traits<T>::Scalar> >, const Derived> Eigen::MatrixBase<Derived>::operator*(const std::complex<typename Eigen::internal::traits<T>::Scalar>&) const [with Derived = Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>; typename Eigen::internal::traits<T>::Scalar = ceres::Jet<double, 300>]
  815. operator*(const std::complex<Scalar>& scalar) const
  816. ^
  817. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:69:1: note: no known conversion for argument 1 from ‘double’ to ‘const std::complex<ceres::Jet<double, 300> >&’
  818. In file included from /usr/include/eigen3/Eigen/Core:323:0,
  819. from /usr/include/eigen3/Eigen/Dense:1,
  820. from /usr/include/eigen3/Eigen/Eigen:1,
  821. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  822. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  823. /usr/include/eigen3/Eigen/src/Core/GeneralProduct.h:571:1: note: template<class OtherDerived> const typename Eigen::ProductReturnType<Derived, OtherDerived>::Type Eigen::MatrixBase<Derived>::operator*(const Eigen::MatrixBase<OtherDerived>&) const [with OtherDerived = OtherDerived; Derived = Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>]
  824. MatrixBase<Derived>::operator*(const MatrixBase<OtherDerived> &other) const
  825. ^
  826. /usr/include/eigen3/Eigen/src/Core/GeneralProduct.h:571:1: note: template argument deduction/substitution failed:
  827. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  828. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  829. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  830. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  831. ^
  832. In file included from /usr/include/eigen3/Eigen/Core:279:0,
  833. from /usr/include/eigen3/Eigen/Dense:1,
  834. from /usr/include/eigen3/Eigen/Eigen:1,
  835. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  836. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  837. /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:194:5: note: template<class DiagonalDerived> const Eigen::DiagonalProduct<Derived, DiagonalDerived, 2> Eigen::MatrixBase<Derived>::operator*(const Eigen::DiagonalBase<DiagonalDerived>&) const [with DiagonalDerived = DiagonalDerived; Derived = Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>]
  838. operator*(const DiagonalBase<DiagonalDerived> &diagonal) const;
  839. ^
  840. /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:194:5: note: template argument deduction/substitution failed:
  841. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  842. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  843. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: mismatched types ‘const Eigen::DiagonalBase<T>’ and ‘double’
  844. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  845. ^
  846. In file included from /usr/include/eigen3/Eigen/Geometry:44:0,
  847. from /usr/include/eigen3/Eigen/Dense:6,
  848. from /usr/include/eigen3/Eigen/Eigen:1,
  849. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  850. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  851. /usr/include/eigen3/Eigen/src/Geometry/Scaling.h:111:1: note: Eigen::MatrixBase<Derived>::ScalarMultipleReturnType Eigen::MatrixBase<Derived>::operator*(const Eigen::UniformScaling<typename Eigen::internal::traits<T>::Scalar>&) const [with Derived = Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>; Eigen::MatrixBase<Derived>::ScalarMultipleReturnType = Eigen::CwiseUnaryOp<Eigen::internal::scalar_multiple_op<ceres::Jet<double, 300> >, const Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1> >; typename Eigen::internal::traits<T>::Scalar = ceres::Jet<double, 300>]
  852. MatrixBase<Derived>::operator*(const UniformScaling<Scalar>& s) const
  853. ^
  854. /usr/include/eigen3/Eigen/src/Geometry/Scaling.h:111:1: note: no known conversion for argument 1 from ‘double’ to ‘const Eigen::UniformScaling<ceres::Jet<double, 300> >&’
  855. In file included from /usr/include/eigen3/Eigen/Geometry:43:0,
  856. from /usr/include/eigen3/Eigen/Dense:6,
  857. from /usr/include/eigen3/Eigen/Eigen:1,
  858. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  859. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  860. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template<class OtherDerived> Eigen::Translation<ceres::Jet<double, 300>, 3>::AffineTransformType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Translation<ceres::Jet<double, 300>, 3>&)
  861. inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
  862. ^
  863. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template argument deduction/substitution failed:
  864. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  865. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  866. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 200>*)this)->ridi::LocalSpeedFunctor<100, 200>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 200>*)this)->ridi::LocalSpeedFunctor<100, 200>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Translation<ceres::Jet<double, 300>, 3>&’
  867. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  868. ^
  869. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  870. from /usr/include/eigen3/Eigen/Dense:6,
  871. from /usr/include/eigen3/Eigen/Eigen:1,
  872. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  873. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  874. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<ceres::Jet<double, 300>, 0>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<ceres::Jet<double, 300>, 0>&)
  875. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  876. ^
  877. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  878. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  879. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  880. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 200>*)this)->ridi::LocalSpeedFunctor<100, 200>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 200>*)this)->ridi::LocalSpeedFunctor<100, 200>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Quaternion<ceres::Jet<double, 300>, 0>&’
  881. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  882. ^
  883. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  884. from /usr/include/eigen3/Eigen/Dense:1,
  885. from /usr/include/eigen3/Eigen/Eigen:1,
  886. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  887. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  888. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<9, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Matrix<double, -1, -1, 0, 3, 2>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Matrix<double, -1, -1, 0, 3, 2>, 9u>&)
  889. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  890. ^
  891. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  892. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  893. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  894. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 200>*)this)->ridi::LocalSpeedFunctor<100, 200>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 200>*)this)->ridi::LocalSpeedFunctor<100, 200>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::TriangularView<Eigen::Matrix<double, -1, -1, 0, 3, 2>, 9u>&’
  895. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  896. ^
  897. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  898. from /usr/include/eigen3/Eigen/Dense:1,
  899. from /usr/include/eigen3/Eigen/Eigen:1,
  900. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  901. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  902. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<10, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Matrix<double, 3, 3>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Matrix<double, 3, 3>, 10u>&)
  903. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  904. ^
  905. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  906. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  907. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  908. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 200>*)this)->ridi::LocalSpeedFunctor<100, 200>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 200>*)this)->ridi::LocalSpeedFunctor<100, 200>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::TriangularView<Eigen::Matrix<double, 3, 3>, 10u>&’
  909. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  910. ^
  911. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  912. from /usr/include/eigen3/Eigen/Dense:1,
  913. from /usr/include/eigen3/Eigen/Eigen:1,
  914. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  915. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  916. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<9, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 9u>&)
  917. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  918. ^
  919. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  920. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  921. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  922. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 200>*)this)->ridi::LocalSpeedFunctor<100, 200>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 200>*)this)->ridi::LocalSpeedFunctor<100, 200>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::TriangularView<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 9u>&’
  923. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  924. ^
  925. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  926. from /usr/include/eigen3/Eigen/Dense:1,
  927. from /usr/include/eigen3/Eigen/Eigen:1,
  928. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  929. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  930. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<1, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 1u>&)
  931. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  932. ^
  933. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  934. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  935. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  936. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 200>*)this)->ridi::LocalSpeedFunctor<100, 200>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 200>*)this)->ridi::LocalSpeedFunctor<100, 200>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 1u>&’
  937. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  938. ^
  939. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  940. from /usr/include/eigen3/Eigen/Dense:1,
  941. from /usr/include/eigen3/Eigen/Eigen:1,
  942. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  943. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  944. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<2, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 2u>&)
  945. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  946. ^
  947. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  948. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  949. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  950. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 200>*)this)->ridi::LocalSpeedFunctor<100, 200>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 200>*)this)->ridi::LocalSpeedFunctor<100, 200>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::TriangularView<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 2u>&’
  951. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  952. ^
  953. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  954. from /usr/include/eigen3/Eigen/Dense:1,
  955. from /usr/include/eigen3/Eigen/Eigen:1,
  956. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  957. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  958. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:251:33: note: template<class Other> Eigen::PermutationBase<Eigen::PermutationMatrix<2, 2, int> >::PlainPermutationType Eigen::operator*(const Eigen::Transpose<Eigen::PermutationBase<Derived> >&, const Eigen::PermutationBase<Eigen::PermutationMatrix<2, 2, int> >&)
  959. inline PlainPermutationType operator*(const Transpose<PermutationBase<Other> >& other, const PermutationBase& perm)
  960. ^
  961. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:251:33: note: template argument deduction/substitution failed:
  962. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  963. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  964. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>}’ is not derived from ‘const Eigen::Transpose<Eigen::PermutationBase<Derived> >’
  965. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  966. ^
  967. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  968. from /usr/include/eigen3/Eigen/Dense:6,
  969. from /usr/include/eigen3/Eigen/Eigen:1,
  970. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  971. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  972. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::AngleAxis<double>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::AngleAxis<double>&)
  973. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  974. ^
  975. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  976. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  977. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  978. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 200>*)this)->ridi::LocalSpeedFunctor<100, 200>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 200>*)this)->ridi::LocalSpeedFunctor<100, 200>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::AngleAxis<double>&’
  979. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  980. ^
  981. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  982. from /usr/include/eigen3/Eigen/Dense:6,
  983. from /usr/include/eigen3/Eigen/Eigen:1,
  984. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  985. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  986. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template<class DiagonalDerived> Eigen::Transform<double, 3, 2>::TransformTimeDiagonalReturnType Eigen::operator*(const Eigen::DiagonalBase<T>&, const Eigen::Transform<double, 3, 2>&)
  987. operator * (const DiagonalBase<DiagonalDerived> &a, const Transform &b)
  988. ^
  989. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template argument deduction/substitution failed:
  990. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  991. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  992. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>}’ is not derived from ‘const Eigen::DiagonalBase<T>’
  993. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  994. ^
  995. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  996. from /usr/include/eigen3/Eigen/Dense:6,
  997. from /usr/include/eigen3/Eigen/Eigen:1,
  998. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  999. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1000. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template<class OtherDerived> const typename Eigen::internal::transform_left_product_impl<OtherDerived, 2, 0, 3, 4, OtherDerived:: RowsAtCompileTime, OtherDerived:: ColsAtCompileTime>::ResultType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Transform<double, 3, 2>&)
  1001. operator * (const EigenBase<OtherDerived> &a, const Transform &b)
  1002. ^
  1003. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template argument deduction/substitution failed:
  1004. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1005. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1006. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 200>*)this)->ridi::LocalSpeedFunctor<100, 200>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 200>*)this)->ridi::LocalSpeedFunctor<100, 200>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Transform<double, 3, 2>&’
  1007. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  1008. ^
  1009. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  1010. from /usr/include/eigen3/Eigen/Dense:6,
  1011. from /usr/include/eigen3/Eigen/Eigen:1,
  1012. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1013. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1014. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template<class DiagonalDerived> Eigen::Transform<double, 3, 2, 1>::TransformTimeDiagonalReturnType Eigen::operator*(const Eigen::DiagonalBase<T>&, const Eigen::Transform<double, 3, 2, 1>&)
  1015. operator * (const DiagonalBase<DiagonalDerived> &a, const Transform &b)
  1016. ^
  1017. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template argument deduction/substitution failed:
  1018. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1019. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1020. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>}’ is not derived from ‘const Eigen::DiagonalBase<T>’
  1021. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  1022. ^
  1023. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  1024. from /usr/include/eigen3/Eigen/Dense:6,
  1025. from /usr/include/eigen3/Eigen/Eigen:1,
  1026. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1027. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1028. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template<class OtherDerived> const typename Eigen::internal::transform_left_product_impl<OtherDerived, 2, 1, 3, 4, OtherDerived:: RowsAtCompileTime, OtherDerived:: ColsAtCompileTime>::ResultType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Transform<double, 3, 2, 1>&)
  1029. operator * (const EigenBase<OtherDerived> &a, const Transform &b)
  1030. ^
  1031. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template argument deduction/substitution failed:
  1032. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1033. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1034. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 200>*)this)->ridi::LocalSpeedFunctor<100, 200>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 200>*)this)->ridi::LocalSpeedFunctor<100, 200>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Transform<double, 3, 2, 1>&’
  1035. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  1036. ^
  1037. In file included from /usr/include/eigen3/Eigen/Geometry:43:0,
  1038. from /usr/include/eigen3/Eigen/Dense:6,
  1039. from /usr/include/eigen3/Eigen/Eigen:1,
  1040. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1041. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1042. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template<class OtherDerived> Eigen::Translation<double, 3>::AffineTransformType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Translation<double, 3>&)
  1043. inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
  1044. ^
  1045. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template argument deduction/substitution failed:
  1046. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1047. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1048. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 200>*)this)->ridi::LocalSpeedFunctor<100, 200>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 200>*)this)->ridi::LocalSpeedFunctor<100, 200>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Translation<double, 3>&’
  1049. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  1050. ^
  1051. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  1052. from /usr/include/eigen3/Eigen/Dense:6,
  1053. from /usr/include/eigen3/Eigen/Eigen:1,
  1054. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1055. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1056. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<double>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<double>&)
  1057. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  1058. ^
  1059. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  1060. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1061. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1062. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 200>*)this)->ridi::LocalSpeedFunctor<100, 200>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 200>*)this)->ridi::LocalSpeedFunctor<100, 200>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Quaternion<double>&’
  1063. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  1064. ^
  1065. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  1066. from /usr/include/eigen3/Eigen/Dense:6,
  1067. from /usr/include/eigen3/Eigen/Eigen:1,
  1068. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1069. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1070. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<float>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<float>&)
  1071. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  1072. ^
  1073. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  1074. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1075. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1076. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 200>*)this)->ridi::LocalSpeedFunctor<100, 200>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 200>*)this)->ridi::LocalSpeedFunctor<100, 200>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Quaternion<float>&’
  1077. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  1078. ^
  1079. In file included from /usr/include/eigen3/Eigen/Householder:17:0,
  1080. from /usr/include/eigen3/Eigen/QR:10,
  1081. from /usr/include/eigen3/Eigen/Dense:4,
  1082. from /usr/include/eigen3/Eigen/Eigen:1,
  1083. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1084. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1085. /usr/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:409:99: note: template<class OtherDerived, class VectorsType, class CoeffsType, int Side> typename Eigen::internal::matrix_type_times_scalar_type<typename VectorsType::Scalar, OtherDerived>::Type Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::HouseholderSequence<VectorsType, CoeffsType, Side>&)
  1086. typename internal::matrix_type_times_scalar_type<typename VectorsType::Scalar,OtherDerived>::Type operator*(const MatrixBase<OtherDerived>& other, const HouseholderSequence<VectorsType,CoeffsType,Side>& h)
  1087. ^
  1088. /usr/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:409:99: note: template argument deduction/substitution failed:
  1089. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1090. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1091. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: mismatched types ‘const Eigen::HouseholderSequence<VectorsType, CoeffsType, Side>’ and ‘double’
  1092. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  1093. ^
  1094. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  1095. from /usr/include/eigen3/Eigen/Dense:1,
  1096. from /usr/include/eigen3/Eigen/Eigen:1,
  1097. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1098. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1099. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:216:1: note: template<class Derived, class Lhs, class Rhs> typename Eigen::internal::enable_if<(! Eigen::internal::is_same<typename Derived::Scalar, typename Derived::RealScalar>::value), const Eigen::ScaledProduct<Derived> >::type Eigen::operator*(const typename Derived::RealScalar&, const Eigen::ProductBase<Derived, _Lhs, _Rhs>&)
  1100. operator*(const typename Derived::RealScalar& x,const ProductBase<Derived,Lhs,Rhs>& prod)
  1101. ^
  1102. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:216:1: note: template argument deduction/substitution failed:
  1103. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1104. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1105. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: mismatched types ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’ and ‘double’
  1106. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  1107. ^
  1108. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  1109. from /usr/include/eigen3/Eigen/Dense:1,
  1110. from /usr/include/eigen3/Eigen/Eigen:1,
  1111. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1112. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1113. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:210:1: note: template<class Derived, class Lhs, class Rhs> const Eigen::ScaledProduct<Derived> Eigen::operator*(const typename Derived::Scalar&, const Eigen::ProductBase<Derived, _Lhs, _Rhs>&)
  1114. operator*(const typename Derived::Scalar& x,const ProductBase<Derived,Lhs,Rhs>& prod)
  1115. ^
  1116. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:210:1: note: template argument deduction/substitution failed:
  1117. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1118. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1119. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: mismatched types ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’ and ‘double’
  1120. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  1121. ^
  1122. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  1123. from /usr/include/eigen3/Eigen/Dense:1,
  1124. from /usr/include/eigen3/Eigen/Eigen:1,
  1125. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1126. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1127. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:204:1: note: template<class Derived, class Lhs, class Rhs> typename Eigen::internal::enable_if<(! Eigen::internal::is_same<typename Derived::Scalar, typename Derived::RealScalar>::value), const Eigen::ScaledProduct<Derived> >::type Eigen::operator*(const Eigen::ProductBase<Derived, _Lhs, _Rhs>&, const typename Derived::RealScalar&)
  1128. operator*(const ProductBase<Derived,Lhs,Rhs>& prod, const typename Derived::RealScalar& x)
  1129. ^
  1130. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:204:1: note: template argument deduction/substitution failed:
  1131. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1132. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1133. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>}’ is not derived from ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’
  1134. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  1135. ^
  1136. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  1137. from /usr/include/eigen3/Eigen/Dense:1,
  1138. from /usr/include/eigen3/Eigen/Eigen:1,
  1139. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1140. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1141. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:198:1: note: template<class Derived, class Lhs, class Rhs> const Eigen::ScaledProduct<Derived> Eigen::operator*(const Eigen::ProductBase<Derived, _Lhs, _Rhs>&, const typename Derived::Scalar&)
  1142. operator*(const ProductBase<Derived,Lhs,Rhs>& prod, const typename Derived::Scalar& x)
  1143. ^
  1144. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:198:1: note: template argument deduction/substitution failed:
  1145. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1146. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1147. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>}’ is not derived from ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’
  1148. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  1149. ^
  1150. In file included from /usr/include/eigen3/Eigen/Core:314:0,
  1151. from /usr/include/eigen3/Eigen/Dense:1,
  1152. from /usr/include/eigen3/Eigen/Eigen:1,
  1153. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1154. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1155. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:344:1: note: template<class Derived, class TranspositionDerived> const Eigen::internal::transposition_matrix_product_retval<TranspositionDerived, Derived, 1> Eigen::operator*(const Eigen::TranspositionsBase<TranspositionsDerived>&, const Eigen::MatrixBase<Derived>&)
  1156. operator*(const TranspositionsBase<TranspositionDerived> &transpositions,
  1157. ^
  1158. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:344:1: note: template argument deduction/substitution failed:
  1159. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1160. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1161. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>}’ is not derived from ‘const Eigen::TranspositionsBase<TranspositionsDerived>’
  1162. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  1163. ^
  1164. In file included from /usr/include/eigen3/Eigen/Core:314:0,
  1165. from /usr/include/eigen3/Eigen/Dense:1,
  1166. from /usr/include/eigen3/Eigen/Eigen:1,
  1167. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1168. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1169. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:331:1: note: template<class Derived, class TranspositionsDerived> const Eigen::internal::transposition_matrix_product_retval<TranspositionsDerived, Derived, 2> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TranspositionsBase<TranspositionsDerived>&)
  1170. operator*(const MatrixBase<Derived>& matrix,
  1171. ^
  1172. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:331:1: note: template argument deduction/substitution failed:
  1173. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1174. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1175. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: mismatched types ‘const Eigen::TranspositionsBase<TranspositionsDerived>’ and ‘double’
  1176. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  1177. ^
  1178. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  1179. from /usr/include/eigen3/Eigen/Dense:1,
  1180. from /usr/include/eigen3/Eigen/Eigen:1,
  1181. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1182. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1183. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:523:1: note: template<class Derived, class PermutationDerived> const Eigen::internal::permut_matrix_product_retval<PermutationDerived, Derived, 1> Eigen::operator*(const Eigen::PermutationBase<PermutationDerived>&, const Eigen::MatrixBase<Derived>&)
  1184. operator*(const PermutationBase<PermutationDerived> &permutation,
  1185. ^
  1186. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:523:1: note: template argument deduction/substitution failed:
  1187. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1188. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1189. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>}’ is not derived from ‘const Eigen::PermutationBase<PermutationDerived>’
  1190. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  1191. ^
  1192. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  1193. from /usr/include/eigen3/Eigen/Dense:1,
  1194. from /usr/include/eigen3/Eigen/Eigen:1,
  1195. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1196. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1197. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:510:1: note: template<class Derived, class PermutationDerived> const Eigen::internal::permut_matrix_product_retval<PermutationDerived, Derived, 2> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::PermutationBase<PermutationDerived>&)
  1198. operator*(const MatrixBase<Derived>& matrix,
  1199. ^
  1200. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:510:1: note: template argument deduction/substitution failed:
  1201. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1202. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1203. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: mismatched types ‘const Eigen::PermutationBase<PermutationDerived>’ and ‘double’
  1204. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  1205. ^
  1206. In file included from /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:136:0,
  1207. from /usr/include/eigen3/Eigen/Core:279,
  1208. from /usr/include/eigen3/Eigen/Dense:1,
  1209. from /usr/include/eigen3/Eigen/Eigen:1,
  1210. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1211. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1212. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:80:1: note: const Eigen::CwiseUnaryOp<Eigen::internal::scalar_multiple2_op<ceres::Jet<double, 300>, std::complex<ceres::Jet<double, 300> > >, const Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1> > Eigen::operator*(const std::complex<ceres::Jet<double, 300> >&, const StorageBaseType&)
  1213. operator*(const std::complex<Scalar>& scalar, const StorageBaseType& matrix)
  1214. ^
  1215. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:80:1: note: no known conversion for argument 1 from ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>}’ to ‘const std::complex<ceres::Jet<double, 300> >&’
  1216. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:76:1: note: const ScalarMultipleReturnType Eigen::operator*(const Scalar&, const StorageBaseType&)
  1217. operator*(const Scalar& scalar, const StorageBaseType& matrix)
  1218. ^
  1219. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:76:1: note: no known conversion for argument 1 from ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>}’ to ‘const Scalar& {aka const ceres::Jet<double, 300>&}’
  1220. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  1221. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  1222. from /usr/local/include/ceres/ceres.h:37,
  1223. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  1224. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  1225. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1226. /usr/local/include/ceres/jet.h:368:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(T, const ceres::Jet<T, N>&)
  1227. Jet<T, N> operator*(T s, const Jet<T, N>& f) {
  1228. ^
  1229. /usr/local/include/ceres/jet.h:368:11: note: template argument deduction/substitution failed:
  1230. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1231. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1232. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: mismatched types ‘const ceres::Jet<T, N>’ and ‘double’
  1233. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  1234. ^
  1235. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  1236. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  1237. from /usr/local/include/ceres/ceres.h:37,
  1238. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  1239. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  1240. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1241. /usr/local/include/ceres/jet.h:362:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(const ceres::Jet<T, N>&, T)
  1242. Jet<T, N> operator*(const Jet<T, N>& f, T s) {
  1243. ^
  1244. /usr/local/include/ceres/jet.h:362:11: note: template argument deduction/substitution failed:
  1245. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1246. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1247. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>}’ is not derived from ‘const ceres::Jet<T, N>’
  1248. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  1249. ^
  1250. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  1251. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  1252. from /usr/local/include/ceres/ceres.h:37,
  1253. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  1254. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  1255. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1256. /usr/local/include/ceres/jet.h:355:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(const ceres::Jet<T, N>&, const ceres::Jet<T, N>&)
  1257. Jet<T, N> operator*(const Jet<T, N>& f,
  1258. ^
  1259. /usr/local/include/ceres/jet.h:355:11: note: template argument deduction/substitution failed:
  1260. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1261. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1262. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>}’ is not derived from ‘const ceres::Jet<T, N>’
  1263. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  1264. ^
  1265. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h: In instantiation of ‘bool ridi::LocalSpeedFunctor<KVARIABLE, KCONSTRAINT>::operator()(const T*, const T*, const T*, T*) const [with T = ceres::Jet<double, 300>; int KVARIABLE = 100; int KCONSTRAINT = 96]’:
  1266. /usr/local/include/ceres/internal/variadic_evaluate.h:159:26: required from ‘static bool ceres::internal::VariadicEvaluate<Functor, T, N0, N1, N2, 0, 0, 0, 0, 0, 0, 0>::Call(const Functor&, const T* const*, T*) [with Functor = ridi::LocalSpeedFunctor<100, 96>; T = ceres::Jet<double, 300>; int N0 = 100; int N1 = 100; int N2 = 100]’
  1267. /usr/local/include/ceres/internal/autodiff.h:290:45: required from ‘static bool ceres::internal::AutoDiff<Functor, T, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>::Differentiate(const Functor&, const T* const*, int, T*, T**) [with Functor = ridi::LocalSpeedFunctor<100, 96>; T = double; int N0 = 100; int N1 = 100; int N2 = 100; int N3 = 0; int N4 = 0; int N5 = 0; int N6 = 0; int N7 = 0; int N8 = 0; int N9 = 0]’
  1268. /usr/local/include/ceres/autodiff_cost_function.h:218:25: required from ‘bool ceres::AutoDiffCostFunction<CostFunctor, kNumResiduals, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>::Evaluate(const double* const*, double*, double**) const [with CostFunctor = ridi::LocalSpeedFunctor<100, 96>; int kNumResiduals = 288; int N0 = 100; int N1 = 100; int N2 = 100; int N3 = 0; int N4 = 0; int N5 = 0; int N6 = 0; int N7 = 0; int N8 = 0; int N9 = 0]’
  1269. /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:267:1: required from here
  1270. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: error: no match for ‘operator*’ (operand types are ‘double’ and ‘Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>’)
  1271. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  1272. ^
  1273. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: candidates are:
  1274. In file included from /usr/include/eigen3/Eigen/Geometry:43:0,
  1275. from /usr/include/eigen3/Eigen/Dense:6,
  1276. from /usr/include/eigen3/Eigen/Eigen:1,
  1277. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1278. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1279. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template<class OtherDerived> Eigen::Translation<ceres::Jet<double, 300>, 3>::AffineTransformType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Translation<ceres::Jet<double, 300>, 3>&)
  1280. inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
  1281. ^
  1282. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template argument deduction/substitution failed:
  1283. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1284. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1285. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  1286. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  1287. ^
  1288. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  1289. from /usr/include/eigen3/Eigen/Dense:6,
  1290. from /usr/include/eigen3/Eigen/Eigen:1,
  1291. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1292. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1293. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<ceres::Jet<double, 300>, 0>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<ceres::Jet<double, 300>, 0>&)
  1294. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  1295. ^
  1296. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  1297. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1298. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1299. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  1300. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  1301. ^
  1302. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  1303. from /usr/include/eigen3/Eigen/Dense:1,
  1304. from /usr/include/eigen3/Eigen/Eigen:1,
  1305. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1306. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1307. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<9, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Matrix<double, -1, -1, 0, 3, 2>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Matrix<double, -1, -1, 0, 3, 2>, 9u>&)
  1308. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  1309. ^
  1310. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  1311. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1312. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1313. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  1314. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  1315. ^
  1316. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  1317. from /usr/include/eigen3/Eigen/Dense:1,
  1318. from /usr/include/eigen3/Eigen/Eigen:1,
  1319. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1320. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1321. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<10, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Matrix<double, 3, 3>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Matrix<double, 3, 3>, 10u>&)
  1322. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  1323. ^
  1324. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  1325. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1326. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1327. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  1328. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  1329. ^
  1330. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  1331. from /usr/include/eigen3/Eigen/Dense:1,
  1332. from /usr/include/eigen3/Eigen/Eigen:1,
  1333. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1334. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1335. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<9, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 9u>&)
  1336. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  1337. ^
  1338. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  1339. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1340. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1341. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  1342. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  1343. ^
  1344. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  1345. from /usr/include/eigen3/Eigen/Dense:1,
  1346. from /usr/include/eigen3/Eigen/Eigen:1,
  1347. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1348. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1349. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<1, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 1u>&)
  1350. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  1351. ^
  1352. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  1353. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1354. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1355. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  1356. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  1357. ^
  1358. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  1359. from /usr/include/eigen3/Eigen/Dense:1,
  1360. from /usr/include/eigen3/Eigen/Eigen:1,
  1361. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1362. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1363. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<2, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 2u>&)
  1364. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  1365. ^
  1366. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  1367. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1368. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1369. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  1370. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  1371. ^
  1372. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  1373. from /usr/include/eigen3/Eigen/Dense:1,
  1374. from /usr/include/eigen3/Eigen/Eigen:1,
  1375. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1376. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1377. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:251:33: note: template<class Other> Eigen::PermutationBase<Eigen::PermutationMatrix<2, 2, int> >::PlainPermutationType Eigen::operator*(const Eigen::Transpose<Eigen::PermutationBase<Derived> >&, const Eigen::PermutationBase<Eigen::PermutationMatrix<2, 2, int> >&)
  1378. inline PlainPermutationType operator*(const Transpose<PermutationBase<Other> >& other, const PermutationBase& perm)
  1379. ^
  1380. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:251:33: note: template argument deduction/substitution failed:
  1381. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1382. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1383. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::Transpose<Eigen::PermutationBase<Derived> >’ and ‘double’
  1384. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  1385. ^
  1386. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  1387. from /usr/include/eigen3/Eigen/Dense:6,
  1388. from /usr/include/eigen3/Eigen/Eigen:1,
  1389. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1390. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1391. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::AngleAxis<double>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::AngleAxis<double>&)
  1392. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  1393. ^
  1394. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  1395. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1396. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1397. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  1398. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  1399. ^
  1400. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  1401. from /usr/include/eigen3/Eigen/Dense:6,
  1402. from /usr/include/eigen3/Eigen/Eigen:1,
  1403. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1404. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1405. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template<class DiagonalDerived> Eigen::Transform<double, 3, 2>::TransformTimeDiagonalReturnType Eigen::operator*(const Eigen::DiagonalBase<T>&, const Eigen::Transform<double, 3, 2>&)
  1406. operator * (const DiagonalBase<DiagonalDerived> &a, const Transform &b)
  1407. ^
  1408. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template argument deduction/substitution failed:
  1409. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1410. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1411. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::DiagonalBase<T>’ and ‘double’
  1412. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  1413. ^
  1414. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  1415. from /usr/include/eigen3/Eigen/Dense:6,
  1416. from /usr/include/eigen3/Eigen/Eigen:1,
  1417. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1418. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1419. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template<class OtherDerived> const typename Eigen::internal::transform_left_product_impl<OtherDerived, 2, 0, 3, 4, OtherDerived:: RowsAtCompileTime, OtherDerived:: ColsAtCompileTime>::ResultType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Transform<double, 3, 2>&)
  1420. operator * (const EigenBase<OtherDerived> &a, const Transform &b)
  1421. ^
  1422. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template argument deduction/substitution failed:
  1423. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1424. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1425. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  1426. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  1427. ^
  1428. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  1429. from /usr/include/eigen3/Eigen/Dense:6,
  1430. from /usr/include/eigen3/Eigen/Eigen:1,
  1431. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1432. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1433. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template<class DiagonalDerived> Eigen::Transform<double, 3, 2, 1>::TransformTimeDiagonalReturnType Eigen::operator*(const Eigen::DiagonalBase<T>&, const Eigen::Transform<double, 3, 2, 1>&)
  1434. operator * (const DiagonalBase<DiagonalDerived> &a, const Transform &b)
  1435. ^
  1436. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template argument deduction/substitution failed:
  1437. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1438. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1439. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::DiagonalBase<T>’ and ‘double’
  1440. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  1441. ^
  1442. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  1443. from /usr/include/eigen3/Eigen/Dense:6,
  1444. from /usr/include/eigen3/Eigen/Eigen:1,
  1445. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1446. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1447. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template<class OtherDerived> const typename Eigen::internal::transform_left_product_impl<OtherDerived, 2, 1, 3, 4, OtherDerived:: RowsAtCompileTime, OtherDerived:: ColsAtCompileTime>::ResultType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Transform<double, 3, 2, 1>&)
  1448. operator * (const EigenBase<OtherDerived> &a, const Transform &b)
  1449. ^
  1450. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template argument deduction/substitution failed:
  1451. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1452. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1453. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  1454. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  1455. ^
  1456. In file included from /usr/include/eigen3/Eigen/Geometry:43:0,
  1457. from /usr/include/eigen3/Eigen/Dense:6,
  1458. from /usr/include/eigen3/Eigen/Eigen:1,
  1459. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1460. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1461. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template<class OtherDerived> Eigen::Translation<double, 3>::AffineTransformType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Translation<double, 3>&)
  1462. inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
  1463. ^
  1464. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template argument deduction/substitution failed:
  1465. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1466. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1467. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  1468. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  1469. ^
  1470. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  1471. from /usr/include/eigen3/Eigen/Dense:6,
  1472. from /usr/include/eigen3/Eigen/Eigen:1,
  1473. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1474. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1475. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<double>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<double>&)
  1476. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  1477. ^
  1478. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  1479. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1480. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1481. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  1482. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  1483. ^
  1484. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  1485. from /usr/include/eigen3/Eigen/Dense:6,
  1486. from /usr/include/eigen3/Eigen/Eigen:1,
  1487. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1488. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1489. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<float>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<float>&)
  1490. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  1491. ^
  1492. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  1493. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1494. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1495. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  1496. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  1497. ^
  1498. In file included from /usr/include/eigen3/Eigen/Householder:17:0,
  1499. from /usr/include/eigen3/Eigen/QR:10,
  1500. from /usr/include/eigen3/Eigen/Dense:4,
  1501. from /usr/include/eigen3/Eigen/Eigen:1,
  1502. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1503. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1504. /usr/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:409:99: note: template<class OtherDerived, class VectorsType, class CoeffsType, int Side> typename Eigen::internal::matrix_type_times_scalar_type<typename VectorsType::Scalar, OtherDerived>::Type Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::HouseholderSequence<VectorsType, CoeffsType, Side>&)
  1505. typename internal::matrix_type_times_scalar_type<typename VectorsType::Scalar,OtherDerived>::Type operator*(const MatrixBase<OtherDerived>& other, const HouseholderSequence<VectorsType,CoeffsType,Side>& h)
  1506. ^
  1507. /usr/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:409:99: note: template argument deduction/substitution failed:
  1508. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1509. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1510. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  1511. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  1512. ^
  1513. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  1514. from /usr/include/eigen3/Eigen/Dense:1,
  1515. from /usr/include/eigen3/Eigen/Eigen:1,
  1516. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1517. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1518. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:216:1: note: template<class Derived, class Lhs, class Rhs> typename Eigen::internal::enable_if<(! Eigen::internal::is_same<typename Derived::Scalar, typename Derived::RealScalar>::value), const Eigen::ScaledProduct<Derived> >::type Eigen::operator*(const typename Derived::RealScalar&, const Eigen::ProductBase<Derived, _Lhs, _Rhs>&)
  1519. operator*(const typename Derived::RealScalar& x,const ProductBase<Derived,Lhs,Rhs>& prod)
  1520. ^
  1521. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:216:1: note: template argument deduction/substitution failed:
  1522. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1523. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1524. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: ‘Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>’ is not derived from ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’
  1525. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  1526. ^
  1527. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  1528. from /usr/include/eigen3/Eigen/Dense:1,
  1529. from /usr/include/eigen3/Eigen/Eigen:1,
  1530. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1531. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1532. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:210:1: note: template<class Derived, class Lhs, class Rhs> const Eigen::ScaledProduct<Derived> Eigen::operator*(const typename Derived::Scalar&, const Eigen::ProductBase<Derived, _Lhs, _Rhs>&)
  1533. operator*(const typename Derived::Scalar& x,const ProductBase<Derived,Lhs,Rhs>& prod)
  1534. ^
  1535. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:210:1: note: template argument deduction/substitution failed:
  1536. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1537. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1538. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: ‘Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>’ is not derived from ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’
  1539. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  1540. ^
  1541. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  1542. from /usr/include/eigen3/Eigen/Dense:1,
  1543. from /usr/include/eigen3/Eigen/Eigen:1,
  1544. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1545. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1546. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:204:1: note: template<class Derived, class Lhs, class Rhs> typename Eigen::internal::enable_if<(! Eigen::internal::is_same<typename Derived::Scalar, typename Derived::RealScalar>::value), const Eigen::ScaledProduct<Derived> >::type Eigen::operator*(const Eigen::ProductBase<Derived, _Lhs, _Rhs>&, const typename Derived::RealScalar&)
  1547. operator*(const ProductBase<Derived,Lhs,Rhs>& prod, const typename Derived::RealScalar& x)
  1548. ^
  1549. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:204:1: note: template argument deduction/substitution failed:
  1550. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1551. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1552. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’ and ‘double’
  1553. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  1554. ^
  1555. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  1556. from /usr/include/eigen3/Eigen/Dense:1,
  1557. from /usr/include/eigen3/Eigen/Eigen:1,
  1558. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1559. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1560. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:198:1: note: template<class Derived, class Lhs, class Rhs> const Eigen::ScaledProduct<Derived> Eigen::operator*(const Eigen::ProductBase<Derived, _Lhs, _Rhs>&, const typename Derived::Scalar&)
  1561. operator*(const ProductBase<Derived,Lhs,Rhs>& prod, const typename Derived::Scalar& x)
  1562. ^
  1563. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:198:1: note: template argument deduction/substitution failed:
  1564. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1565. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1566. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’ and ‘double’
  1567. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  1568. ^
  1569. In file included from /usr/include/eigen3/Eigen/Core:314:0,
  1570. from /usr/include/eigen3/Eigen/Dense:1,
  1571. from /usr/include/eigen3/Eigen/Eigen:1,
  1572. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1573. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1574. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:344:1: note: template<class Derived, class TranspositionDerived> const Eigen::internal::transposition_matrix_product_retval<TranspositionDerived, Derived, 1> Eigen::operator*(const Eigen::TranspositionsBase<TranspositionsDerived>&, const Eigen::MatrixBase<Derived>&)
  1575. operator*(const TranspositionsBase<TranspositionDerived> &transpositions,
  1576. ^
  1577. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:344:1: note: template argument deduction/substitution failed:
  1578. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1579. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1580. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::TranspositionsBase<TranspositionsDerived>’ and ‘double’
  1581. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  1582. ^
  1583. In file included from /usr/include/eigen3/Eigen/Core:314:0,
  1584. from /usr/include/eigen3/Eigen/Dense:1,
  1585. from /usr/include/eigen3/Eigen/Eigen:1,
  1586. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1587. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1588. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:331:1: note: template<class Derived, class TranspositionsDerived> const Eigen::internal::transposition_matrix_product_retval<TranspositionsDerived, Derived, 2> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TranspositionsBase<TranspositionsDerived>&)
  1589. operator*(const MatrixBase<Derived>& matrix,
  1590. ^
  1591. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:331:1: note: template argument deduction/substitution failed:
  1592. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1593. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1594. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  1595. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  1596. ^
  1597. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  1598. from /usr/include/eigen3/Eigen/Dense:1,
  1599. from /usr/include/eigen3/Eigen/Eigen:1,
  1600. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1601. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1602. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:523:1: note: template<class Derived, class PermutationDerived> const Eigen::internal::permut_matrix_product_retval<PermutationDerived, Derived, 1> Eigen::operator*(const Eigen::PermutationBase<PermutationDerived>&, const Eigen::MatrixBase<Derived>&)
  1603. operator*(const PermutationBase<PermutationDerived> &permutation,
  1604. ^
  1605. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:523:1: note: template argument deduction/substitution failed:
  1606. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1607. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1608. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::PermutationBase<PermutationDerived>’ and ‘double’
  1609. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  1610. ^
  1611. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  1612. from /usr/include/eigen3/Eigen/Dense:1,
  1613. from /usr/include/eigen3/Eigen/Eigen:1,
  1614. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1615. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1616. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:510:1: note: template<class Derived, class PermutationDerived> const Eigen::internal::permut_matrix_product_retval<PermutationDerived, Derived, 2> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::PermutationBase<PermutationDerived>&)
  1617. operator*(const MatrixBase<Derived>& matrix,
  1618. ^
  1619. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:510:1: note: template argument deduction/substitution failed:
  1620. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1621. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1622. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  1623. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  1624. ^
  1625. In file included from /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:136:0,
  1626. from /usr/include/eigen3/Eigen/Core:279,
  1627. from /usr/include/eigen3/Eigen/Dense:1,
  1628. from /usr/include/eigen3/Eigen/Eigen:1,
  1629. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1630. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1631. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:80:1: note: const Eigen::CwiseUnaryOp<Eigen::internal::scalar_multiple2_op<ceres::Jet<double, 300>, std::complex<ceres::Jet<double, 300> > >, const Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1> > Eigen::operator*(const std::complex<ceres::Jet<double, 300> >&, const StorageBaseType&)
  1632. operator*(const std::complex<Scalar>& scalar, const StorageBaseType& matrix)
  1633. ^
  1634. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:80:1: note: no known conversion for argument 1 from ‘double’ to ‘const std::complex<ceres::Jet<double, 300> >&’
  1635. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:76:1: note: const ScalarMultipleReturnType Eigen::operator*(const Scalar&, const StorageBaseType&)
  1636. operator*(const Scalar& scalar, const StorageBaseType& matrix)
  1637. ^
  1638. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:76:1: note: no known conversion for argument 1 from ‘double’ to ‘const Scalar& {aka const ceres::Jet<double, 300>&}’
  1639. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  1640. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  1641. from /usr/local/include/ceres/ceres.h:37,
  1642. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  1643. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  1644. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1645. /usr/local/include/ceres/jet.h:368:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(T, const ceres::Jet<T, N>&)
  1646. Jet<T, N> operator*(T s, const Jet<T, N>& f) {
  1647. ^
  1648. /usr/local/include/ceres/jet.h:368:11: note: template argument deduction/substitution failed:
  1649. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1650. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1651. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: ‘Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>’ is not derived from ‘const ceres::Jet<T, N>’
  1652. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  1653. ^
  1654. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  1655. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  1656. from /usr/local/include/ceres/ceres.h:37,
  1657. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  1658. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  1659. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1660. /usr/local/include/ceres/jet.h:362:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(const ceres::Jet<T, N>&, T)
  1661. Jet<T, N> operator*(const Jet<T, N>& f, T s) {
  1662. ^
  1663. /usr/local/include/ceres/jet.h:362:11: note: template argument deduction/substitution failed:
  1664. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1665. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1666. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const ceres::Jet<T, N>’ and ‘double’
  1667. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  1668. ^
  1669. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  1670. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  1671. from /usr/local/include/ceres/ceres.h:37,
  1672. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  1673. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  1674. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1675. /usr/local/include/ceres/jet.h:355:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(const ceres::Jet<T, N>&, const ceres::Jet<T, N>&)
  1676. Jet<T, N> operator*(const Jet<T, N>& f,
  1677. ^
  1678. /usr/local/include/ceres/jet.h:355:11: note: template argument deduction/substitution failed:
  1679. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1680. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1681. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const ceres::Jet<T, N>’ and ‘double’
  1682. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  1683. ^
  1684. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: error: no match for ‘operator*’ (operand types are ‘double’ and ‘Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>’)
  1685. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  1686. ^
  1687. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: candidates are:
  1688. In file included from /usr/include/eigen3/Eigen/Geometry:43:0,
  1689. from /usr/include/eigen3/Eigen/Dense:6,
  1690. from /usr/include/eigen3/Eigen/Eigen:1,
  1691. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1692. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1693. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template<class OtherDerived> Eigen::Translation<ceres::Jet<double, 300>, 3>::AffineTransformType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Translation<ceres::Jet<double, 300>, 3>&)
  1694. inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
  1695. ^
  1696. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template argument deduction/substitution failed:
  1697. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1698. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1699. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  1700. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  1701. ^
  1702. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  1703. from /usr/include/eigen3/Eigen/Dense:6,
  1704. from /usr/include/eigen3/Eigen/Eigen:1,
  1705. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1706. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1707. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<ceres::Jet<double, 300>, 0>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<ceres::Jet<double, 300>, 0>&)
  1708. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  1709. ^
  1710. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  1711. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1712. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1713. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  1714. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  1715. ^
  1716. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  1717. from /usr/include/eigen3/Eigen/Dense:1,
  1718. from /usr/include/eigen3/Eigen/Eigen:1,
  1719. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1720. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1721. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<9, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Matrix<double, -1, -1, 0, 3, 2>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Matrix<double, -1, -1, 0, 3, 2>, 9u>&)
  1722. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  1723. ^
  1724. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  1725. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1726. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1727. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  1728. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  1729. ^
  1730. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  1731. from /usr/include/eigen3/Eigen/Dense:1,
  1732. from /usr/include/eigen3/Eigen/Eigen:1,
  1733. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1734. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1735. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<10, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Matrix<double, 3, 3>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Matrix<double, 3, 3>, 10u>&)
  1736. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  1737. ^
  1738. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  1739. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1740. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1741. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  1742. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  1743. ^
  1744. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  1745. from /usr/include/eigen3/Eigen/Dense:1,
  1746. from /usr/include/eigen3/Eigen/Eigen:1,
  1747. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1748. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1749. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<9, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 9u>&)
  1750. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  1751. ^
  1752. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  1753. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1754. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1755. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  1756. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  1757. ^
  1758. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  1759. from /usr/include/eigen3/Eigen/Dense:1,
  1760. from /usr/include/eigen3/Eigen/Eigen:1,
  1761. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1762. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1763. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<1, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 1u>&)
  1764. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  1765. ^
  1766. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  1767. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1768. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1769. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  1770. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  1771. ^
  1772. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  1773. from /usr/include/eigen3/Eigen/Dense:1,
  1774. from /usr/include/eigen3/Eigen/Eigen:1,
  1775. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1776. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1777. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<2, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 2u>&)
  1778. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  1779. ^
  1780. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  1781. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1782. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1783. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  1784. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  1785. ^
  1786. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  1787. from /usr/include/eigen3/Eigen/Dense:1,
  1788. from /usr/include/eigen3/Eigen/Eigen:1,
  1789. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1790. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1791. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:251:33: note: template<class Other> Eigen::PermutationBase<Eigen::PermutationMatrix<2, 2, int> >::PlainPermutationType Eigen::operator*(const Eigen::Transpose<Eigen::PermutationBase<Derived> >&, const Eigen::PermutationBase<Eigen::PermutationMatrix<2, 2, int> >&)
  1792. inline PlainPermutationType operator*(const Transpose<PermutationBase<Other> >& other, const PermutationBase& perm)
  1793. ^
  1794. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:251:33: note: template argument deduction/substitution failed:
  1795. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1796. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1797. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::Transpose<Eigen::PermutationBase<Derived> >’ and ‘double’
  1798. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  1799. ^
  1800. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  1801. from /usr/include/eigen3/Eigen/Dense:6,
  1802. from /usr/include/eigen3/Eigen/Eigen:1,
  1803. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1804. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1805. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::AngleAxis<double>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::AngleAxis<double>&)
  1806. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  1807. ^
  1808. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  1809. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1810. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1811. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  1812. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  1813. ^
  1814. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  1815. from /usr/include/eigen3/Eigen/Dense:6,
  1816. from /usr/include/eigen3/Eigen/Eigen:1,
  1817. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1818. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1819. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template<class DiagonalDerived> Eigen::Transform<double, 3, 2>::TransformTimeDiagonalReturnType Eigen::operator*(const Eigen::DiagonalBase<T>&, const Eigen::Transform<double, 3, 2>&)
  1820. operator * (const DiagonalBase<DiagonalDerived> &a, const Transform &b)
  1821. ^
  1822. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template argument deduction/substitution failed:
  1823. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1824. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1825. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::DiagonalBase<T>’ and ‘double’
  1826. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  1827. ^
  1828. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  1829. from /usr/include/eigen3/Eigen/Dense:6,
  1830. from /usr/include/eigen3/Eigen/Eigen:1,
  1831. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1832. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1833. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template<class OtherDerived> const typename Eigen::internal::transform_left_product_impl<OtherDerived, 2, 0, 3, 4, OtherDerived:: RowsAtCompileTime, OtherDerived:: ColsAtCompileTime>::ResultType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Transform<double, 3, 2>&)
  1834. operator * (const EigenBase<OtherDerived> &a, const Transform &b)
  1835. ^
  1836. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template argument deduction/substitution failed:
  1837. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1838. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1839. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  1840. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  1841. ^
  1842. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  1843. from /usr/include/eigen3/Eigen/Dense:6,
  1844. from /usr/include/eigen3/Eigen/Eigen:1,
  1845. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1846. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1847. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template<class DiagonalDerived> Eigen::Transform<double, 3, 2, 1>::TransformTimeDiagonalReturnType Eigen::operator*(const Eigen::DiagonalBase<T>&, const Eigen::Transform<double, 3, 2, 1>&)
  1848. operator * (const DiagonalBase<DiagonalDerived> &a, const Transform &b)
  1849. ^
  1850. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template argument deduction/substitution failed:
  1851. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1852. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1853. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::DiagonalBase<T>’ and ‘double’
  1854. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  1855. ^
  1856. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  1857. from /usr/include/eigen3/Eigen/Dense:6,
  1858. from /usr/include/eigen3/Eigen/Eigen:1,
  1859. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1860. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1861. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template<class OtherDerived> const typename Eigen::internal::transform_left_product_impl<OtherDerived, 2, 1, 3, 4, OtherDerived:: RowsAtCompileTime, OtherDerived:: ColsAtCompileTime>::ResultType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Transform<double, 3, 2, 1>&)
  1862. operator * (const EigenBase<OtherDerived> &a, const Transform &b)
  1863. ^
  1864. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template argument deduction/substitution failed:
  1865. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1866. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1867. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  1868. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  1869. ^
  1870. In file included from /usr/include/eigen3/Eigen/Geometry:43:0,
  1871. from /usr/include/eigen3/Eigen/Dense:6,
  1872. from /usr/include/eigen3/Eigen/Eigen:1,
  1873. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1874. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1875. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template<class OtherDerived> Eigen::Translation<double, 3>::AffineTransformType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Translation<double, 3>&)
  1876. inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
  1877. ^
  1878. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template argument deduction/substitution failed:
  1879. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1880. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1881. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  1882. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  1883. ^
  1884. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  1885. from /usr/include/eigen3/Eigen/Dense:6,
  1886. from /usr/include/eigen3/Eigen/Eigen:1,
  1887. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1888. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1889. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<double>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<double>&)
  1890. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  1891. ^
  1892. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  1893. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1894. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1895. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  1896. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  1897. ^
  1898. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  1899. from /usr/include/eigen3/Eigen/Dense:6,
  1900. from /usr/include/eigen3/Eigen/Eigen:1,
  1901. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1902. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1903. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<float>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<float>&)
  1904. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  1905. ^
  1906. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  1907. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1908. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1909. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  1910. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  1911. ^
  1912. In file included from /usr/include/eigen3/Eigen/Householder:17:0,
  1913. from /usr/include/eigen3/Eigen/QR:10,
  1914. from /usr/include/eigen3/Eigen/Dense:4,
  1915. from /usr/include/eigen3/Eigen/Eigen:1,
  1916. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1917. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1918. /usr/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:409:99: note: template<class OtherDerived, class VectorsType, class CoeffsType, int Side> typename Eigen::internal::matrix_type_times_scalar_type<typename VectorsType::Scalar, OtherDerived>::Type Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::HouseholderSequence<VectorsType, CoeffsType, Side>&)
  1919. typename internal::matrix_type_times_scalar_type<typename VectorsType::Scalar,OtherDerived>::Type operator*(const MatrixBase<OtherDerived>& other, const HouseholderSequence<VectorsType,CoeffsType,Side>& h)
  1920. ^
  1921. /usr/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:409:99: note: template argument deduction/substitution failed:
  1922. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1923. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1924. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  1925. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  1926. ^
  1927. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  1928. from /usr/include/eigen3/Eigen/Dense:1,
  1929. from /usr/include/eigen3/Eigen/Eigen:1,
  1930. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1931. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1932. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:216:1: note: template<class Derived, class Lhs, class Rhs> typename Eigen::internal::enable_if<(! Eigen::internal::is_same<typename Derived::Scalar, typename Derived::RealScalar>::value), const Eigen::ScaledProduct<Derived> >::type Eigen::operator*(const typename Derived::RealScalar&, const Eigen::ProductBase<Derived, _Lhs, _Rhs>&)
  1933. operator*(const typename Derived::RealScalar& x,const ProductBase<Derived,Lhs,Rhs>& prod)
  1934. ^
  1935. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:216:1: note: template argument deduction/substitution failed:
  1936. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1937. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1938. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: ‘Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>’ is not derived from ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’
  1939. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  1940. ^
  1941. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  1942. from /usr/include/eigen3/Eigen/Dense:1,
  1943. from /usr/include/eigen3/Eigen/Eigen:1,
  1944. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1945. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1946. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:210:1: note: template<class Derived, class Lhs, class Rhs> const Eigen::ScaledProduct<Derived> Eigen::operator*(const typename Derived::Scalar&, const Eigen::ProductBase<Derived, _Lhs, _Rhs>&)
  1947. operator*(const typename Derived::Scalar& x,const ProductBase<Derived,Lhs,Rhs>& prod)
  1948. ^
  1949. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:210:1: note: template argument deduction/substitution failed:
  1950. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1951. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1952. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: ‘Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>’ is not derived from ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’
  1953. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  1954. ^
  1955. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  1956. from /usr/include/eigen3/Eigen/Dense:1,
  1957. from /usr/include/eigen3/Eigen/Eigen:1,
  1958. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1959. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1960. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:204:1: note: template<class Derived, class Lhs, class Rhs> typename Eigen::internal::enable_if<(! Eigen::internal::is_same<typename Derived::Scalar, typename Derived::RealScalar>::value), const Eigen::ScaledProduct<Derived> >::type Eigen::operator*(const Eigen::ProductBase<Derived, _Lhs, _Rhs>&, const typename Derived::RealScalar&)
  1961. operator*(const ProductBase<Derived,Lhs,Rhs>& prod, const typename Derived::RealScalar& x)
  1962. ^
  1963. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:204:1: note: template argument deduction/substitution failed:
  1964. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1965. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1966. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’ and ‘double’
  1967. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  1968. ^
  1969. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  1970. from /usr/include/eigen3/Eigen/Dense:1,
  1971. from /usr/include/eigen3/Eigen/Eigen:1,
  1972. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1973. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1974. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:198:1: note: template<class Derived, class Lhs, class Rhs> const Eigen::ScaledProduct<Derived> Eigen::operator*(const Eigen::ProductBase<Derived, _Lhs, _Rhs>&, const typename Derived::Scalar&)
  1975. operator*(const ProductBase<Derived,Lhs,Rhs>& prod, const typename Derived::Scalar& x)
  1976. ^
  1977. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:198:1: note: template argument deduction/substitution failed:
  1978. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1979. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1980. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’ and ‘double’
  1981. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  1982. ^
  1983. In file included from /usr/include/eigen3/Eigen/Core:314:0,
  1984. from /usr/include/eigen3/Eigen/Dense:1,
  1985. from /usr/include/eigen3/Eigen/Eigen:1,
  1986. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  1987. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1988. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:344:1: note: template<class Derived, class TranspositionDerived> const Eigen::internal::transposition_matrix_product_retval<TranspositionDerived, Derived, 1> Eigen::operator*(const Eigen::TranspositionsBase<TranspositionsDerived>&, const Eigen::MatrixBase<Derived>&)
  1989. operator*(const TranspositionsBase<TranspositionDerived> &transpositions,
  1990. ^
  1991. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:344:1: note: template argument deduction/substitution failed:
  1992. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  1993. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  1994. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::TranspositionsBase<TranspositionsDerived>’ and ‘double’
  1995. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  1996. ^
  1997. In file included from /usr/include/eigen3/Eigen/Core:314:0,
  1998. from /usr/include/eigen3/Eigen/Dense:1,
  1999. from /usr/include/eigen3/Eigen/Eigen:1,
  2000. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2001. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2002. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:331:1: note: template<class Derived, class TranspositionsDerived> const Eigen::internal::transposition_matrix_product_retval<TranspositionsDerived, Derived, 2> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TranspositionsBase<TranspositionsDerived>&)
  2003. operator*(const MatrixBase<Derived>& matrix,
  2004. ^
  2005. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:331:1: note: template argument deduction/substitution failed:
  2006. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2007. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2008. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  2009. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  2010. ^
  2011. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  2012. from /usr/include/eigen3/Eigen/Dense:1,
  2013. from /usr/include/eigen3/Eigen/Eigen:1,
  2014. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2015. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2016. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:523:1: note: template<class Derived, class PermutationDerived> const Eigen::internal::permut_matrix_product_retval<PermutationDerived, Derived, 1> Eigen::operator*(const Eigen::PermutationBase<PermutationDerived>&, const Eigen::MatrixBase<Derived>&)
  2017. operator*(const PermutationBase<PermutationDerived> &permutation,
  2018. ^
  2019. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:523:1: note: template argument deduction/substitution failed:
  2020. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2021. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2022. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::PermutationBase<PermutationDerived>’ and ‘double’
  2023. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  2024. ^
  2025. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  2026. from /usr/include/eigen3/Eigen/Dense:1,
  2027. from /usr/include/eigen3/Eigen/Eigen:1,
  2028. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2029. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2030. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:510:1: note: template<class Derived, class PermutationDerived> const Eigen::internal::permut_matrix_product_retval<PermutationDerived, Derived, 2> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::PermutationBase<PermutationDerived>&)
  2031. operator*(const MatrixBase<Derived>& matrix,
  2032. ^
  2033. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:510:1: note: template argument deduction/substitution failed:
  2034. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2035. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2036. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  2037. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  2038. ^
  2039. In file included from /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:136:0,
  2040. from /usr/include/eigen3/Eigen/Core:279,
  2041. from /usr/include/eigen3/Eigen/Dense:1,
  2042. from /usr/include/eigen3/Eigen/Eigen:1,
  2043. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2044. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2045. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:80:1: note: const Eigen::CwiseUnaryOp<Eigen::internal::scalar_multiple2_op<ceres::Jet<double, 300>, std::complex<ceres::Jet<double, 300> > >, const Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1> > Eigen::operator*(const std::complex<ceres::Jet<double, 300> >&, const StorageBaseType&)
  2046. operator*(const std::complex<Scalar>& scalar, const StorageBaseType& matrix)
  2047. ^
  2048. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:80:1: note: no known conversion for argument 1 from ‘double’ to ‘const std::complex<ceres::Jet<double, 300> >&’
  2049. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:76:1: note: const ScalarMultipleReturnType Eigen::operator*(const Scalar&, const StorageBaseType&)
  2050. operator*(const Scalar& scalar, const StorageBaseType& matrix)
  2051. ^
  2052. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:76:1: note: no known conversion for argument 1 from ‘double’ to ‘const Scalar& {aka const ceres::Jet<double, 300>&}’
  2053. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  2054. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  2055. from /usr/local/include/ceres/ceres.h:37,
  2056. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  2057. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  2058. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2059. /usr/local/include/ceres/jet.h:368:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(T, const ceres::Jet<T, N>&)
  2060. Jet<T, N> operator*(T s, const Jet<T, N>& f) {
  2061. ^
  2062. /usr/local/include/ceres/jet.h:368:11: note: template argument deduction/substitution failed:
  2063. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2064. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2065. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: ‘Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>’ is not derived from ‘const ceres::Jet<T, N>’
  2066. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  2067. ^
  2068. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  2069. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  2070. from /usr/local/include/ceres/ceres.h:37,
  2071. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  2072. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  2073. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2074. /usr/local/include/ceres/jet.h:362:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(const ceres::Jet<T, N>&, T)
  2075. Jet<T, N> operator*(const Jet<T, N>& f, T s) {
  2076. ^
  2077. /usr/local/include/ceres/jet.h:362:11: note: template argument deduction/substitution failed:
  2078. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2079. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2080. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const ceres::Jet<T, N>’ and ‘double’
  2081. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  2082. ^
  2083. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  2084. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  2085. from /usr/local/include/ceres/ceres.h:37,
  2086. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  2087. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  2088. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2089. /usr/local/include/ceres/jet.h:355:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(const ceres::Jet<T, N>&, const ceres::Jet<T, N>&)
  2090. Jet<T, N> operator*(const Jet<T, N>& f,
  2091. ^
  2092. /usr/local/include/ceres/jet.h:355:11: note: template argument deduction/substitution failed:
  2093. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2094. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2095. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const ceres::Jet<T, N>’ and ‘double’
  2096. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  2097. ^
  2098. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: error: no match for ‘operator*’ (operand types are ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>}’ and ‘double’)
  2099. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  2100. ^
  2101. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: candidates are:
  2102. In file included from /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:136:0,
  2103. from /usr/include/eigen3/Eigen/Core:279,
  2104. from /usr/include/eigen3/Eigen/Dense:1,
  2105. from /usr/include/eigen3/Eigen/Eigen:1,
  2106. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2107. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2108. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:49:1: note: const ScalarMultipleReturnType Eigen::MatrixBase<Derived>::operator*(const Scalar&) const [with Derived = Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>; Eigen::MatrixBase<Derived>::ScalarMultipleReturnType = Eigen::CwiseUnaryOp<Eigen::internal::scalar_multiple_op<ceres::Jet<double, 300> >, const Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1> >; typename Eigen::internal::traits<T>::Scalar = ceres::Jet<double, 300>; Eigen::MatrixBase<Derived>::Scalar = ceres::Jet<double, 300>]
  2109. operator*(const Scalar& scalar) const
  2110. ^
  2111. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:49:1: note: no known conversion for argument 1 from ‘double’ to ‘const Scalar& {aka const ceres::Jet<double, 300>&}’
  2112. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:69:1: note: const Eigen::CwiseUnaryOp<Eigen::internal::scalar_multiple2_op<typename Eigen::internal::traits<T>::Scalar, std::complex<typename Eigen::internal::traits<T>::Scalar> >, const Derived> Eigen::MatrixBase<Derived>::operator*(const std::complex<typename Eigen::internal::traits<T>::Scalar>&) const [with Derived = Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>; typename Eigen::internal::traits<T>::Scalar = ceres::Jet<double, 300>]
  2113. operator*(const std::complex<Scalar>& scalar) const
  2114. ^
  2115. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:69:1: note: no known conversion for argument 1 from ‘double’ to ‘const std::complex<ceres::Jet<double, 300> >&’
  2116. In file included from /usr/include/eigen3/Eigen/Core:323:0,
  2117. from /usr/include/eigen3/Eigen/Dense:1,
  2118. from /usr/include/eigen3/Eigen/Eigen:1,
  2119. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2120. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2121. /usr/include/eigen3/Eigen/src/Core/GeneralProduct.h:571:1: note: template<class OtherDerived> const typename Eigen::ProductReturnType<Derived, OtherDerived>::Type Eigen::MatrixBase<Derived>::operator*(const Eigen::MatrixBase<OtherDerived>&) const [with OtherDerived = OtherDerived; Derived = Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>]
  2122. MatrixBase<Derived>::operator*(const MatrixBase<OtherDerived> &other) const
  2123. ^
  2124. /usr/include/eigen3/Eigen/src/Core/GeneralProduct.h:571:1: note: template argument deduction/substitution failed:
  2125. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2126. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2127. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  2128. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  2129. ^
  2130. In file included from /usr/include/eigen3/Eigen/Core:279:0,
  2131. from /usr/include/eigen3/Eigen/Dense:1,
  2132. from /usr/include/eigen3/Eigen/Eigen:1,
  2133. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2134. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2135. /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:194:5: note: template<class DiagonalDerived> const Eigen::DiagonalProduct<Derived, DiagonalDerived, 2> Eigen::MatrixBase<Derived>::operator*(const Eigen::DiagonalBase<DiagonalDerived>&) const [with DiagonalDerived = DiagonalDerived; Derived = Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>]
  2136. operator*(const DiagonalBase<DiagonalDerived> &diagonal) const;
  2137. ^
  2138. /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:194:5: note: template argument deduction/substitution failed:
  2139. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2140. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2141. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: mismatched types ‘const Eigen::DiagonalBase<T>’ and ‘double’
  2142. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  2143. ^
  2144. In file included from /usr/include/eigen3/Eigen/Geometry:44:0,
  2145. from /usr/include/eigen3/Eigen/Dense:6,
  2146. from /usr/include/eigen3/Eigen/Eigen:1,
  2147. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2148. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2149. /usr/include/eigen3/Eigen/src/Geometry/Scaling.h:111:1: note: Eigen::MatrixBase<Derived>::ScalarMultipleReturnType Eigen::MatrixBase<Derived>::operator*(const Eigen::UniformScaling<typename Eigen::internal::traits<T>::Scalar>&) const [with Derived = Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>; Eigen::MatrixBase<Derived>::ScalarMultipleReturnType = Eigen::CwiseUnaryOp<Eigen::internal::scalar_multiple_op<ceres::Jet<double, 300> >, const Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1> >; typename Eigen::internal::traits<T>::Scalar = ceres::Jet<double, 300>]
  2150. MatrixBase<Derived>::operator*(const UniformScaling<Scalar>& s) const
  2151. ^
  2152. /usr/include/eigen3/Eigen/src/Geometry/Scaling.h:111:1: note: no known conversion for argument 1 from ‘double’ to ‘const Eigen::UniformScaling<ceres::Jet<double, 300> >&’
  2153. In file included from /usr/include/eigen3/Eigen/Geometry:43:0,
  2154. from /usr/include/eigen3/Eigen/Dense:6,
  2155. from /usr/include/eigen3/Eigen/Eigen:1,
  2156. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2157. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2158. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template<class OtherDerived> Eigen::Translation<ceres::Jet<double, 300>, 3>::AffineTransformType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Translation<ceres::Jet<double, 300>, 3>&)
  2159. inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
  2160. ^
  2161. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template argument deduction/substitution failed:
  2162. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2163. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2164. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 96>*)this)->ridi::LocalSpeedFunctor<100, 96>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 96>*)this)->ridi::LocalSpeedFunctor<100, 96>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Translation<ceres::Jet<double, 300>, 3>&’
  2165. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  2166. ^
  2167. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  2168. from /usr/include/eigen3/Eigen/Dense:6,
  2169. from /usr/include/eigen3/Eigen/Eigen:1,
  2170. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2171. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2172. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<ceres::Jet<double, 300>, 0>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<ceres::Jet<double, 300>, 0>&)
  2173. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  2174. ^
  2175. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  2176. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2177. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2178. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 96>*)this)->ridi::LocalSpeedFunctor<100, 96>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 96>*)this)->ridi::LocalSpeedFunctor<100, 96>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Quaternion<ceres::Jet<double, 300>, 0>&’
  2179. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  2180. ^
  2181. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  2182. from /usr/include/eigen3/Eigen/Dense:1,
  2183. from /usr/include/eigen3/Eigen/Eigen:1,
  2184. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2185. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2186. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<9, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Matrix<double, -1, -1, 0, 3, 2>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Matrix<double, -1, -1, 0, 3, 2>, 9u>&)
  2187. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  2188. ^
  2189. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  2190. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2191. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2192. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 96>*)this)->ridi::LocalSpeedFunctor<100, 96>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 96>*)this)->ridi::LocalSpeedFunctor<100, 96>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::TriangularView<Eigen::Matrix<double, -1, -1, 0, 3, 2>, 9u>&’
  2193. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  2194. ^
  2195. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  2196. from /usr/include/eigen3/Eigen/Dense:1,
  2197. from /usr/include/eigen3/Eigen/Eigen:1,
  2198. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2199. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2200. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<10, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Matrix<double, 3, 3>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Matrix<double, 3, 3>, 10u>&)
  2201. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  2202. ^
  2203. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  2204. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2205. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2206. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 96>*)this)->ridi::LocalSpeedFunctor<100, 96>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 96>*)this)->ridi::LocalSpeedFunctor<100, 96>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::TriangularView<Eigen::Matrix<double, 3, 3>, 10u>&’
  2207. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  2208. ^
  2209. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  2210. from /usr/include/eigen3/Eigen/Dense:1,
  2211. from /usr/include/eigen3/Eigen/Eigen:1,
  2212. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2213. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2214. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<9, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 9u>&)
  2215. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  2216. ^
  2217. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  2218. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2219. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2220. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 96>*)this)->ridi::LocalSpeedFunctor<100, 96>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 96>*)this)->ridi::LocalSpeedFunctor<100, 96>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::TriangularView<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 9u>&’
  2221. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  2222. ^
  2223. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  2224. from /usr/include/eigen3/Eigen/Dense:1,
  2225. from /usr/include/eigen3/Eigen/Eigen:1,
  2226. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2227. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2228. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<1, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 1u>&)
  2229. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  2230. ^
  2231. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  2232. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2233. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2234. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 96>*)this)->ridi::LocalSpeedFunctor<100, 96>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 96>*)this)->ridi::LocalSpeedFunctor<100, 96>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 1u>&’
  2235. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  2236. ^
  2237. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  2238. from /usr/include/eigen3/Eigen/Dense:1,
  2239. from /usr/include/eigen3/Eigen/Eigen:1,
  2240. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2241. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2242. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<2, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 2u>&)
  2243. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  2244. ^
  2245. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  2246. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2247. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2248. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 96>*)this)->ridi::LocalSpeedFunctor<100, 96>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 96>*)this)->ridi::LocalSpeedFunctor<100, 96>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::TriangularView<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 2u>&’
  2249. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  2250. ^
  2251. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  2252. from /usr/include/eigen3/Eigen/Dense:1,
  2253. from /usr/include/eigen3/Eigen/Eigen:1,
  2254. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2255. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2256. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:251:33: note: template<class Other> Eigen::PermutationBase<Eigen::PermutationMatrix<2, 2, int> >::PlainPermutationType Eigen::operator*(const Eigen::Transpose<Eigen::PermutationBase<Derived> >&, const Eigen::PermutationBase<Eigen::PermutationMatrix<2, 2, int> >&)
  2257. inline PlainPermutationType operator*(const Transpose<PermutationBase<Other> >& other, const PermutationBase& perm)
  2258. ^
  2259. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:251:33: note: template argument deduction/substitution failed:
  2260. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2261. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2262. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>}’ is not derived from ‘const Eigen::Transpose<Eigen::PermutationBase<Derived> >’
  2263. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  2264. ^
  2265. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  2266. from /usr/include/eigen3/Eigen/Dense:6,
  2267. from /usr/include/eigen3/Eigen/Eigen:1,
  2268. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2269. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2270. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::AngleAxis<double>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::AngleAxis<double>&)
  2271. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  2272. ^
  2273. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  2274. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2275. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2276. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 96>*)this)->ridi::LocalSpeedFunctor<100, 96>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 96>*)this)->ridi::LocalSpeedFunctor<100, 96>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::AngleAxis<double>&’
  2277. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  2278. ^
  2279. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  2280. from /usr/include/eigen3/Eigen/Dense:6,
  2281. from /usr/include/eigen3/Eigen/Eigen:1,
  2282. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2283. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2284. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template<class DiagonalDerived> Eigen::Transform<double, 3, 2>::TransformTimeDiagonalReturnType Eigen::operator*(const Eigen::DiagonalBase<T>&, const Eigen::Transform<double, 3, 2>&)
  2285. operator * (const DiagonalBase<DiagonalDerived> &a, const Transform &b)
  2286. ^
  2287. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template argument deduction/substitution failed:
  2288. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2289. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2290. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>}’ is not derived from ‘const Eigen::DiagonalBase<T>’
  2291. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  2292. ^
  2293. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  2294. from /usr/include/eigen3/Eigen/Dense:6,
  2295. from /usr/include/eigen3/Eigen/Eigen:1,
  2296. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2297. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2298. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template<class OtherDerived> const typename Eigen::internal::transform_left_product_impl<OtherDerived, 2, 0, 3, 4, OtherDerived:: RowsAtCompileTime, OtherDerived:: ColsAtCompileTime>::ResultType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Transform<double, 3, 2>&)
  2299. operator * (const EigenBase<OtherDerived> &a, const Transform &b)
  2300. ^
  2301. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template argument deduction/substitution failed:
  2302. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2303. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2304. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 96>*)this)->ridi::LocalSpeedFunctor<100, 96>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 96>*)this)->ridi::LocalSpeedFunctor<100, 96>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Transform<double, 3, 2>&’
  2305. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  2306. ^
  2307. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  2308. from /usr/include/eigen3/Eigen/Dense:6,
  2309. from /usr/include/eigen3/Eigen/Eigen:1,
  2310. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2311. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2312. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template<class DiagonalDerived> Eigen::Transform<double, 3, 2, 1>::TransformTimeDiagonalReturnType Eigen::operator*(const Eigen::DiagonalBase<T>&, const Eigen::Transform<double, 3, 2, 1>&)
  2313. operator * (const DiagonalBase<DiagonalDerived> &a, const Transform &b)
  2314. ^
  2315. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template argument deduction/substitution failed:
  2316. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2317. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2318. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>}’ is not derived from ‘const Eigen::DiagonalBase<T>’
  2319. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  2320. ^
  2321. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  2322. from /usr/include/eigen3/Eigen/Dense:6,
  2323. from /usr/include/eigen3/Eigen/Eigen:1,
  2324. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2325. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2326. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template<class OtherDerived> const typename Eigen::internal::transform_left_product_impl<OtherDerived, 2, 1, 3, 4, OtherDerived:: RowsAtCompileTime, OtherDerived:: ColsAtCompileTime>::ResultType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Transform<double, 3, 2, 1>&)
  2327. operator * (const EigenBase<OtherDerived> &a, const Transform &b)
  2328. ^
  2329. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template argument deduction/substitution failed:
  2330. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2331. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2332. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 96>*)this)->ridi::LocalSpeedFunctor<100, 96>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 96>*)this)->ridi::LocalSpeedFunctor<100, 96>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Transform<double, 3, 2, 1>&’
  2333. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  2334. ^
  2335. In file included from /usr/include/eigen3/Eigen/Geometry:43:0,
  2336. from /usr/include/eigen3/Eigen/Dense:6,
  2337. from /usr/include/eigen3/Eigen/Eigen:1,
  2338. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2339. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2340. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template<class OtherDerived> Eigen::Translation<double, 3>::AffineTransformType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Translation<double, 3>&)
  2341. inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
  2342. ^
  2343. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template argument deduction/substitution failed:
  2344. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2345. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2346. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 96>*)this)->ridi::LocalSpeedFunctor<100, 96>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 96>*)this)->ridi::LocalSpeedFunctor<100, 96>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Translation<double, 3>&’
  2347. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  2348. ^
  2349. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  2350. from /usr/include/eigen3/Eigen/Dense:6,
  2351. from /usr/include/eigen3/Eigen/Eigen:1,
  2352. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2353. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2354. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<double>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<double>&)
  2355. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  2356. ^
  2357. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  2358. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2359. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2360. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 96>*)this)->ridi::LocalSpeedFunctor<100, 96>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 96>*)this)->ridi::LocalSpeedFunctor<100, 96>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Quaternion<double>&’
  2361. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  2362. ^
  2363. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  2364. from /usr/include/eigen3/Eigen/Dense:6,
  2365. from /usr/include/eigen3/Eigen/Eigen:1,
  2366. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2367. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2368. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<float>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<float>&)
  2369. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  2370. ^
  2371. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  2372. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2373. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2374. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 96>*)this)->ridi::LocalSpeedFunctor<100, 96>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<100, 96>*)this)->ridi::LocalSpeedFunctor<100, 96>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Quaternion<float>&’
  2375. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  2376. ^
  2377. In file included from /usr/include/eigen3/Eigen/Householder:17:0,
  2378. from /usr/include/eigen3/Eigen/QR:10,
  2379. from /usr/include/eigen3/Eigen/Dense:4,
  2380. from /usr/include/eigen3/Eigen/Eigen:1,
  2381. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2382. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2383. /usr/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:409:99: note: template<class OtherDerived, class VectorsType, class CoeffsType, int Side> typename Eigen::internal::matrix_type_times_scalar_type<typename VectorsType::Scalar, OtherDerived>::Type Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::HouseholderSequence<VectorsType, CoeffsType, Side>&)
  2384. typename internal::matrix_type_times_scalar_type<typename VectorsType::Scalar,OtherDerived>::Type operator*(const MatrixBase<OtherDerived>& other, const HouseholderSequence<VectorsType,CoeffsType,Side>& h)
  2385. ^
  2386. /usr/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:409:99: note: template argument deduction/substitution failed:
  2387. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2388. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2389. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: mismatched types ‘const Eigen::HouseholderSequence<VectorsType, CoeffsType, Side>’ and ‘double’
  2390. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  2391. ^
  2392. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  2393. from /usr/include/eigen3/Eigen/Dense:1,
  2394. from /usr/include/eigen3/Eigen/Eigen:1,
  2395. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2396. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2397. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:216:1: note: template<class Derived, class Lhs, class Rhs> typename Eigen::internal::enable_if<(! Eigen::internal::is_same<typename Derived::Scalar, typename Derived::RealScalar>::value), const Eigen::ScaledProduct<Derived> >::type Eigen::operator*(const typename Derived::RealScalar&, const Eigen::ProductBase<Derived, _Lhs, _Rhs>&)
  2398. operator*(const typename Derived::RealScalar& x,const ProductBase<Derived,Lhs,Rhs>& prod)
  2399. ^
  2400. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:216:1: note: template argument deduction/substitution failed:
  2401. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2402. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2403. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: mismatched types ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’ and ‘double’
  2404. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  2405. ^
  2406. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  2407. from /usr/include/eigen3/Eigen/Dense:1,
  2408. from /usr/include/eigen3/Eigen/Eigen:1,
  2409. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2410. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2411. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:210:1: note: template<class Derived, class Lhs, class Rhs> const Eigen::ScaledProduct<Derived> Eigen::operator*(const typename Derived::Scalar&, const Eigen::ProductBase<Derived, _Lhs, _Rhs>&)
  2412. operator*(const typename Derived::Scalar& x,const ProductBase<Derived,Lhs,Rhs>& prod)
  2413. ^
  2414. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:210:1: note: template argument deduction/substitution failed:
  2415. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2416. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2417. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: mismatched types ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’ and ‘double’
  2418. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  2419. ^
  2420. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  2421. from /usr/include/eigen3/Eigen/Dense:1,
  2422. from /usr/include/eigen3/Eigen/Eigen:1,
  2423. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2424. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2425. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:204:1: note: template<class Derived, class Lhs, class Rhs> typename Eigen::internal::enable_if<(! Eigen::internal::is_same<typename Derived::Scalar, typename Derived::RealScalar>::value), const Eigen::ScaledProduct<Derived> >::type Eigen::operator*(const Eigen::ProductBase<Derived, _Lhs, _Rhs>&, const typename Derived::RealScalar&)
  2426. operator*(const ProductBase<Derived,Lhs,Rhs>& prod, const typename Derived::RealScalar& x)
  2427. ^
  2428. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:204:1: note: template argument deduction/substitution failed:
  2429. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2430. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2431. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>}’ is not derived from ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’
  2432. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  2433. ^
  2434. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  2435. from /usr/include/eigen3/Eigen/Dense:1,
  2436. from /usr/include/eigen3/Eigen/Eigen:1,
  2437. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2438. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2439. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:198:1: note: template<class Derived, class Lhs, class Rhs> const Eigen::ScaledProduct<Derived> Eigen::operator*(const Eigen::ProductBase<Derived, _Lhs, _Rhs>&, const typename Derived::Scalar&)
  2440. operator*(const ProductBase<Derived,Lhs,Rhs>& prod, const typename Derived::Scalar& x)
  2441. ^
  2442. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:198:1: note: template argument deduction/substitution failed:
  2443. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2444. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2445. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>}’ is not derived from ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’
  2446. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  2447. ^
  2448. In file included from /usr/include/eigen3/Eigen/Core:314:0,
  2449. from /usr/include/eigen3/Eigen/Dense:1,
  2450. from /usr/include/eigen3/Eigen/Eigen:1,
  2451. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2452. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2453. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:344:1: note: template<class Derived, class TranspositionDerived> const Eigen::internal::transposition_matrix_product_retval<TranspositionDerived, Derived, 1> Eigen::operator*(const Eigen::TranspositionsBase<TranspositionsDerived>&, const Eigen::MatrixBase<Derived>&)
  2454. operator*(const TranspositionsBase<TranspositionDerived> &transpositions,
  2455. ^
  2456. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:344:1: note: template argument deduction/substitution failed:
  2457. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2458. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2459. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>}’ is not derived from ‘const Eigen::TranspositionsBase<TranspositionsDerived>’
  2460. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  2461. ^
  2462. In file included from /usr/include/eigen3/Eigen/Core:314:0,
  2463. from /usr/include/eigen3/Eigen/Dense:1,
  2464. from /usr/include/eigen3/Eigen/Eigen:1,
  2465. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2466. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2467. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:331:1: note: template<class Derived, class TranspositionsDerived> const Eigen::internal::transposition_matrix_product_retval<TranspositionsDerived, Derived, 2> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TranspositionsBase<TranspositionsDerived>&)
  2468. operator*(const MatrixBase<Derived>& matrix,
  2469. ^
  2470. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:331:1: note: template argument deduction/substitution failed:
  2471. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2472. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2473. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: mismatched types ‘const Eigen::TranspositionsBase<TranspositionsDerived>’ and ‘double’
  2474. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  2475. ^
  2476. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  2477. from /usr/include/eigen3/Eigen/Dense:1,
  2478. from /usr/include/eigen3/Eigen/Eigen:1,
  2479. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2480. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2481. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:523:1: note: template<class Derived, class PermutationDerived> const Eigen::internal::permut_matrix_product_retval<PermutationDerived, Derived, 1> Eigen::operator*(const Eigen::PermutationBase<PermutationDerived>&, const Eigen::MatrixBase<Derived>&)
  2482. operator*(const PermutationBase<PermutationDerived> &permutation,
  2483. ^
  2484. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:523:1: note: template argument deduction/substitution failed:
  2485. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2486. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2487. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>}’ is not derived from ‘const Eigen::PermutationBase<PermutationDerived>’
  2488. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  2489. ^
  2490. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  2491. from /usr/include/eigen3/Eigen/Dense:1,
  2492. from /usr/include/eigen3/Eigen/Eigen:1,
  2493. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2494. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2495. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:510:1: note: template<class Derived, class PermutationDerived> const Eigen::internal::permut_matrix_product_retval<PermutationDerived, Derived, 2> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::PermutationBase<PermutationDerived>&)
  2496. operator*(const MatrixBase<Derived>& matrix,
  2497. ^
  2498. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:510:1: note: template argument deduction/substitution failed:
  2499. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2500. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2501. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: mismatched types ‘const Eigen::PermutationBase<PermutationDerived>’ and ‘double’
  2502. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  2503. ^
  2504. In file included from /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:136:0,
  2505. from /usr/include/eigen3/Eigen/Core:279,
  2506. from /usr/include/eigen3/Eigen/Dense:1,
  2507. from /usr/include/eigen3/Eigen/Eigen:1,
  2508. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2509. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2510. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:80:1: note: const Eigen::CwiseUnaryOp<Eigen::internal::scalar_multiple2_op<ceres::Jet<double, 300>, std::complex<ceres::Jet<double, 300> > >, const Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1> > Eigen::operator*(const std::complex<ceres::Jet<double, 300> >&, const StorageBaseType&)
  2511. operator*(const std::complex<Scalar>& scalar, const StorageBaseType& matrix)
  2512. ^
  2513. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:80:1: note: no known conversion for argument 1 from ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>}’ to ‘const std::complex<ceres::Jet<double, 300> >&’
  2514. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:76:1: note: const ScalarMultipleReturnType Eigen::operator*(const Scalar&, const StorageBaseType&)
  2515. operator*(const Scalar& scalar, const StorageBaseType& matrix)
  2516. ^
  2517. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:76:1: note: no known conversion for argument 1 from ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>}’ to ‘const Scalar& {aka const ceres::Jet<double, 300>&}’
  2518. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  2519. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  2520. from /usr/local/include/ceres/ceres.h:37,
  2521. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  2522. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  2523. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2524. /usr/local/include/ceres/jet.h:368:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(T, const ceres::Jet<T, N>&)
  2525. Jet<T, N> operator*(T s, const Jet<T, N>& f) {
  2526. ^
  2527. /usr/local/include/ceres/jet.h:368:11: note: template argument deduction/substitution failed:
  2528. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2529. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2530. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: mismatched types ‘const ceres::Jet<T, N>’ and ‘double’
  2531. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  2532. ^
  2533. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  2534. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  2535. from /usr/local/include/ceres/ceres.h:37,
  2536. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  2537. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  2538. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2539. /usr/local/include/ceres/jet.h:362:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(const ceres::Jet<T, N>&, T)
  2540. Jet<T, N> operator*(const Jet<T, N>& f, T s) {
  2541. ^
  2542. /usr/local/include/ceres/jet.h:362:11: note: template argument deduction/substitution failed:
  2543. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2544. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2545. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>}’ is not derived from ‘const ceres::Jet<T, N>’
  2546. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  2547. ^
  2548. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  2549. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  2550. from /usr/local/include/ceres/ceres.h:37,
  2551. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  2552. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  2553. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2554. /usr/local/include/ceres/jet.h:355:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(const ceres::Jet<T, N>&, const ceres::Jet<T, N>&)
  2555. Jet<T, N> operator*(const Jet<T, N>& f,
  2556. ^
  2557. /usr/local/include/ceres/jet.h:355:11: note: template argument deduction/substitution failed:
  2558. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2559. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2560. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 300>, 3, 1, 0, 3, 1>}’ is not derived from ‘const ceres::Jet<T, N>’
  2561. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  2562. ^
  2563. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h: In instantiation of ‘bool ridi::LocalSpeedFunctor<KVARIABLE, KCONSTRAINT>::operator()(const T*, const T*, const T*, T*) const [with T = ceres::Jet<double, 60>; int KVARIABLE = 20; int KCONSTRAINT = 16]’:
  2564. /usr/local/include/ceres/internal/variadic_evaluate.h:159:26: required from ‘static bool ceres::internal::VariadicEvaluate<Functor, T, N0, N1, N2, 0, 0, 0, 0, 0, 0, 0>::Call(const Functor&, const T* const*, T*) [with Functor = ridi::LocalSpeedFunctor<20, 16>; T = ceres::Jet<double, 60>; int N0 = 20; int N1 = 20; int N2 = 20]’
  2565. /usr/local/include/ceres/internal/autodiff.h:290:45: required from ‘static bool ceres::internal::AutoDiff<Functor, T, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>::Differentiate(const Functor&, const T* const*, int, T*, T**) [with Functor = ridi::LocalSpeedFunctor<20, 16>; T = double; int N0 = 20; int N1 = 20; int N2 = 20; int N3 = 0; int N4 = 0; int N5 = 0; int N6 = 0; int N7 = 0; int N8 = 0; int N9 = 0]’
  2566. /usr/local/include/ceres/autodiff_cost_function.h:218:25: required from ‘bool ceres::AutoDiffCostFunction<CostFunctor, kNumResiduals, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>::Evaluate(const double* const*, double*, double**) const [with CostFunctor = ridi::LocalSpeedFunctor<20, 16>; int kNumResiduals = 48; int N0 = 20; int N1 = 20; int N2 = 20; int N3 = 0; int N4 = 0; int N5 = 0; int N6 = 0; int N7 = 0; int N8 = 0; int N9 = 0]’
  2567. /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:267:1: required from here
  2568. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: error: no match for ‘operator*’ (operand types are ‘double’ and ‘Eigen::Matrix<ceres::Jet<double, 60>, 3, 1, 0, 3, 1>’)
  2569. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  2570. ^
  2571. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: candidates are:
  2572. In file included from /usr/include/eigen3/Eigen/Geometry:43:0,
  2573. from /usr/include/eigen3/Eigen/Dense:6,
  2574. from /usr/include/eigen3/Eigen/Eigen:1,
  2575. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2576. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2577. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template<class OtherDerived> Eigen::Translation<ceres::Jet<double, 300>, 3>::AffineTransformType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Translation<ceres::Jet<double, 300>, 3>&)
  2578. inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
  2579. ^
  2580. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template argument deduction/substitution failed:
  2581. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2582. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2583. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  2584. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  2585. ^
  2586. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  2587. from /usr/include/eigen3/Eigen/Dense:6,
  2588. from /usr/include/eigen3/Eigen/Eigen:1,
  2589. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2590. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2591. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<ceres::Jet<double, 300>, 0>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<ceres::Jet<double, 300>, 0>&)
  2592. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  2593. ^
  2594. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  2595. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2596. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2597. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  2598. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  2599. ^
  2600. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  2601. from /usr/include/eigen3/Eigen/Dense:1,
  2602. from /usr/include/eigen3/Eigen/Eigen:1,
  2603. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2604. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2605. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<9, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Matrix<double, -1, -1, 0, 3, 2>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Matrix<double, -1, -1, 0, 3, 2>, 9u>&)
  2606. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  2607. ^
  2608. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  2609. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2610. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2611. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  2612. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  2613. ^
  2614. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  2615. from /usr/include/eigen3/Eigen/Dense:1,
  2616. from /usr/include/eigen3/Eigen/Eigen:1,
  2617. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2618. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2619. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<10, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Matrix<double, 3, 3>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Matrix<double, 3, 3>, 10u>&)
  2620. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  2621. ^
  2622. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  2623. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2624. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2625. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  2626. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  2627. ^
  2628. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  2629. from /usr/include/eigen3/Eigen/Dense:1,
  2630. from /usr/include/eigen3/Eigen/Eigen:1,
  2631. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2632. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2633. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<9, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 9u>&)
  2634. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  2635. ^
  2636. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  2637. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2638. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2639. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  2640. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  2641. ^
  2642. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  2643. from /usr/include/eigen3/Eigen/Dense:1,
  2644. from /usr/include/eigen3/Eigen/Eigen:1,
  2645. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2646. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2647. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<1, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 1u>&)
  2648. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  2649. ^
  2650. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  2651. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2652. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2653. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  2654. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  2655. ^
  2656. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  2657. from /usr/include/eigen3/Eigen/Dense:1,
  2658. from /usr/include/eigen3/Eigen/Eigen:1,
  2659. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2660. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2661. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<2, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 2u>&)
  2662. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  2663. ^
  2664. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  2665. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2666. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2667. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  2668. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  2669. ^
  2670. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  2671. from /usr/include/eigen3/Eigen/Dense:1,
  2672. from /usr/include/eigen3/Eigen/Eigen:1,
  2673. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2674. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2675. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:251:33: note: template<class Other> Eigen::PermutationBase<Eigen::PermutationMatrix<2, 2, int> >::PlainPermutationType Eigen::operator*(const Eigen::Transpose<Eigen::PermutationBase<Derived> >&, const Eigen::PermutationBase<Eigen::PermutationMatrix<2, 2, int> >&)
  2676. inline PlainPermutationType operator*(const Transpose<PermutationBase<Other> >& other, const PermutationBase& perm)
  2677. ^
  2678. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:251:33: note: template argument deduction/substitution failed:
  2679. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2680. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2681. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::Transpose<Eigen::PermutationBase<Derived> >’ and ‘double’
  2682. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  2683. ^
  2684. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  2685. from /usr/include/eigen3/Eigen/Dense:6,
  2686. from /usr/include/eigen3/Eigen/Eigen:1,
  2687. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2688. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2689. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::AngleAxis<double>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::AngleAxis<double>&)
  2690. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  2691. ^
  2692. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  2693. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2694. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2695. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  2696. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  2697. ^
  2698. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  2699. from /usr/include/eigen3/Eigen/Dense:6,
  2700. from /usr/include/eigen3/Eigen/Eigen:1,
  2701. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2702. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2703. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template<class DiagonalDerived> Eigen::Transform<double, 3, 2>::TransformTimeDiagonalReturnType Eigen::operator*(const Eigen::DiagonalBase<T>&, const Eigen::Transform<double, 3, 2>&)
  2704. operator * (const DiagonalBase<DiagonalDerived> &a, const Transform &b)
  2705. ^
  2706. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template argument deduction/substitution failed:
  2707. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2708. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2709. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::DiagonalBase<T>’ and ‘double’
  2710. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  2711. ^
  2712. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  2713. from /usr/include/eigen3/Eigen/Dense:6,
  2714. from /usr/include/eigen3/Eigen/Eigen:1,
  2715. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2716. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2717. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template<class OtherDerived> const typename Eigen::internal::transform_left_product_impl<OtherDerived, 2, 0, 3, 4, OtherDerived:: RowsAtCompileTime, OtherDerived:: ColsAtCompileTime>::ResultType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Transform<double, 3, 2>&)
  2718. operator * (const EigenBase<OtherDerived> &a, const Transform &b)
  2719. ^
  2720. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template argument deduction/substitution failed:
  2721. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2722. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2723. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  2724. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  2725. ^
  2726. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  2727. from /usr/include/eigen3/Eigen/Dense:6,
  2728. from /usr/include/eigen3/Eigen/Eigen:1,
  2729. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2730. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2731. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template<class DiagonalDerived> Eigen::Transform<double, 3, 2, 1>::TransformTimeDiagonalReturnType Eigen::operator*(const Eigen::DiagonalBase<T>&, const Eigen::Transform<double, 3, 2, 1>&)
  2732. operator * (const DiagonalBase<DiagonalDerived> &a, const Transform &b)
  2733. ^
  2734. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template argument deduction/substitution failed:
  2735. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2736. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2737. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::DiagonalBase<T>’ and ‘double’
  2738. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  2739. ^
  2740. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  2741. from /usr/include/eigen3/Eigen/Dense:6,
  2742. from /usr/include/eigen3/Eigen/Eigen:1,
  2743. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2744. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2745. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template<class OtherDerived> const typename Eigen::internal::transform_left_product_impl<OtherDerived, 2, 1, 3, 4, OtherDerived:: RowsAtCompileTime, OtherDerived:: ColsAtCompileTime>::ResultType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Transform<double, 3, 2, 1>&)
  2746. operator * (const EigenBase<OtherDerived> &a, const Transform &b)
  2747. ^
  2748. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template argument deduction/substitution failed:
  2749. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2750. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2751. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  2752. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  2753. ^
  2754. In file included from /usr/include/eigen3/Eigen/Geometry:43:0,
  2755. from /usr/include/eigen3/Eigen/Dense:6,
  2756. from /usr/include/eigen3/Eigen/Eigen:1,
  2757. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2758. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2759. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template<class OtherDerived> Eigen::Translation<double, 3>::AffineTransformType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Translation<double, 3>&)
  2760. inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
  2761. ^
  2762. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template argument deduction/substitution failed:
  2763. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2764. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2765. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  2766. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  2767. ^
  2768. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  2769. from /usr/include/eigen3/Eigen/Dense:6,
  2770. from /usr/include/eigen3/Eigen/Eigen:1,
  2771. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2772. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2773. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<double>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<double>&)
  2774. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  2775. ^
  2776. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  2777. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2778. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2779. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  2780. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  2781. ^
  2782. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  2783. from /usr/include/eigen3/Eigen/Dense:6,
  2784. from /usr/include/eigen3/Eigen/Eigen:1,
  2785. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2786. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2787. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<float>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<float>&)
  2788. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  2789. ^
  2790. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  2791. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2792. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2793. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  2794. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  2795. ^
  2796. In file included from /usr/include/eigen3/Eigen/Householder:17:0,
  2797. from /usr/include/eigen3/Eigen/QR:10,
  2798. from /usr/include/eigen3/Eigen/Dense:4,
  2799. from /usr/include/eigen3/Eigen/Eigen:1,
  2800. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2801. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2802. /usr/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:409:99: note: template<class OtherDerived, class VectorsType, class CoeffsType, int Side> typename Eigen::internal::matrix_type_times_scalar_type<typename VectorsType::Scalar, OtherDerived>::Type Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::HouseholderSequence<VectorsType, CoeffsType, Side>&)
  2803. typename internal::matrix_type_times_scalar_type<typename VectorsType::Scalar,OtherDerived>::Type operator*(const MatrixBase<OtherDerived>& other, const HouseholderSequence<VectorsType,CoeffsType,Side>& h)
  2804. ^
  2805. /usr/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:409:99: note: template argument deduction/substitution failed:
  2806. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2807. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2808. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  2809. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  2810. ^
  2811. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  2812. from /usr/include/eigen3/Eigen/Dense:1,
  2813. from /usr/include/eigen3/Eigen/Eigen:1,
  2814. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2815. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2816. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:216:1: note: template<class Derived, class Lhs, class Rhs> typename Eigen::internal::enable_if<(! Eigen::internal::is_same<typename Derived::Scalar, typename Derived::RealScalar>::value), const Eigen::ScaledProduct<Derived> >::type Eigen::operator*(const typename Derived::RealScalar&, const Eigen::ProductBase<Derived, _Lhs, _Rhs>&)
  2817. operator*(const typename Derived::RealScalar& x,const ProductBase<Derived,Lhs,Rhs>& prod)
  2818. ^
  2819. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:216:1: note: template argument deduction/substitution failed:
  2820. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2821. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2822. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: ‘Eigen::Matrix<ceres::Jet<double, 60>, 3, 1, 0, 3, 1>’ is not derived from ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’
  2823. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  2824. ^
  2825. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  2826. from /usr/include/eigen3/Eigen/Dense:1,
  2827. from /usr/include/eigen3/Eigen/Eigen:1,
  2828. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2829. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2830. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:210:1: note: template<class Derived, class Lhs, class Rhs> const Eigen::ScaledProduct<Derived> Eigen::operator*(const typename Derived::Scalar&, const Eigen::ProductBase<Derived, _Lhs, _Rhs>&)
  2831. operator*(const typename Derived::Scalar& x,const ProductBase<Derived,Lhs,Rhs>& prod)
  2832. ^
  2833. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:210:1: note: template argument deduction/substitution failed:
  2834. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2835. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2836. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: ‘Eigen::Matrix<ceres::Jet<double, 60>, 3, 1, 0, 3, 1>’ is not derived from ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’
  2837. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  2838. ^
  2839. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  2840. from /usr/include/eigen3/Eigen/Dense:1,
  2841. from /usr/include/eigen3/Eigen/Eigen:1,
  2842. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2843. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2844. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:204:1: note: template<class Derived, class Lhs, class Rhs> typename Eigen::internal::enable_if<(! Eigen::internal::is_same<typename Derived::Scalar, typename Derived::RealScalar>::value), const Eigen::ScaledProduct<Derived> >::type Eigen::operator*(const Eigen::ProductBase<Derived, _Lhs, _Rhs>&, const typename Derived::RealScalar&)
  2845. operator*(const ProductBase<Derived,Lhs,Rhs>& prod, const typename Derived::RealScalar& x)
  2846. ^
  2847. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:204:1: note: template argument deduction/substitution failed:
  2848. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2849. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2850. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’ and ‘double’
  2851. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  2852. ^
  2853. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  2854. from /usr/include/eigen3/Eigen/Dense:1,
  2855. from /usr/include/eigen3/Eigen/Eigen:1,
  2856. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2857. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2858. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:198:1: note: template<class Derived, class Lhs, class Rhs> const Eigen::ScaledProduct<Derived> Eigen::operator*(const Eigen::ProductBase<Derived, _Lhs, _Rhs>&, const typename Derived::Scalar&)
  2859. operator*(const ProductBase<Derived,Lhs,Rhs>& prod, const typename Derived::Scalar& x)
  2860. ^
  2861. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:198:1: note: template argument deduction/substitution failed:
  2862. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2863. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2864. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’ and ‘double’
  2865. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  2866. ^
  2867. In file included from /usr/include/eigen3/Eigen/Core:314:0,
  2868. from /usr/include/eigen3/Eigen/Dense:1,
  2869. from /usr/include/eigen3/Eigen/Eigen:1,
  2870. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2871. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2872. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:344:1: note: template<class Derived, class TranspositionDerived> const Eigen::internal::transposition_matrix_product_retval<TranspositionDerived, Derived, 1> Eigen::operator*(const Eigen::TranspositionsBase<TranspositionsDerived>&, const Eigen::MatrixBase<Derived>&)
  2873. operator*(const TranspositionsBase<TranspositionDerived> &transpositions,
  2874. ^
  2875. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:344:1: note: template argument deduction/substitution failed:
  2876. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2877. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2878. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::TranspositionsBase<TranspositionsDerived>’ and ‘double’
  2879. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  2880. ^
  2881. In file included from /usr/include/eigen3/Eigen/Core:314:0,
  2882. from /usr/include/eigen3/Eigen/Dense:1,
  2883. from /usr/include/eigen3/Eigen/Eigen:1,
  2884. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2885. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2886. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:331:1: note: template<class Derived, class TranspositionsDerived> const Eigen::internal::transposition_matrix_product_retval<TranspositionsDerived, Derived, 2> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TranspositionsBase<TranspositionsDerived>&)
  2887. operator*(const MatrixBase<Derived>& matrix,
  2888. ^
  2889. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:331:1: note: template argument deduction/substitution failed:
  2890. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2891. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2892. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  2893. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  2894. ^
  2895. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  2896. from /usr/include/eigen3/Eigen/Dense:1,
  2897. from /usr/include/eigen3/Eigen/Eigen:1,
  2898. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2899. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2900. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:523:1: note: template<class Derived, class PermutationDerived> const Eigen::internal::permut_matrix_product_retval<PermutationDerived, Derived, 1> Eigen::operator*(const Eigen::PermutationBase<PermutationDerived>&, const Eigen::MatrixBase<Derived>&)
  2901. operator*(const PermutationBase<PermutationDerived> &permutation,
  2902. ^
  2903. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:523:1: note: template argument deduction/substitution failed:
  2904. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2905. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2906. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::PermutationBase<PermutationDerived>’ and ‘double’
  2907. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  2908. ^
  2909. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  2910. from /usr/include/eigen3/Eigen/Dense:1,
  2911. from /usr/include/eigen3/Eigen/Eigen:1,
  2912. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2913. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2914. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:510:1: note: template<class Derived, class PermutationDerived> const Eigen::internal::permut_matrix_product_retval<PermutationDerived, Derived, 2> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::PermutationBase<PermutationDerived>&)
  2915. operator*(const MatrixBase<Derived>& matrix,
  2916. ^
  2917. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:510:1: note: template argument deduction/substitution failed:
  2918. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2919. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2920. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  2921. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  2922. ^
  2923. In file included from /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:136:0,
  2924. from /usr/include/eigen3/Eigen/Core:279,
  2925. from /usr/include/eigen3/Eigen/Dense:1,
  2926. from /usr/include/eigen3/Eigen/Eigen:1,
  2927. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2928. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2929. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:80:1: note: const Eigen::CwiseUnaryOp<Eigen::internal::scalar_multiple2_op<ceres::Jet<double, 60>, std::complex<ceres::Jet<double, 60> > >, const Eigen::Matrix<ceres::Jet<double, 60>, 3, 1, 0, 3, 1> > Eigen::operator*(const std::complex<ceres::Jet<double, 60> >&, const StorageBaseType&)
  2930. operator*(const std::complex<Scalar>& scalar, const StorageBaseType& matrix)
  2931. ^
  2932. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:80:1: note: no known conversion for argument 1 from ‘double’ to ‘const std::complex<ceres::Jet<double, 60> >&’
  2933. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:76:1: note: const ScalarMultipleReturnType Eigen::operator*(const Scalar&, const StorageBaseType&)
  2934. operator*(const Scalar& scalar, const StorageBaseType& matrix)
  2935. ^
  2936. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:76:1: note: no known conversion for argument 1 from ‘double’ to ‘const Scalar& {aka const ceres::Jet<double, 60>&}’
  2937. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  2938. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  2939. from /usr/local/include/ceres/ceres.h:37,
  2940. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  2941. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  2942. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2943. /usr/local/include/ceres/jet.h:368:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(T, const ceres::Jet<T, N>&)
  2944. Jet<T, N> operator*(T s, const Jet<T, N>& f) {
  2945. ^
  2946. /usr/local/include/ceres/jet.h:368:11: note: template argument deduction/substitution failed:
  2947. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2948. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2949. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: ‘Eigen::Matrix<ceres::Jet<double, 60>, 3, 1, 0, 3, 1>’ is not derived from ‘const ceres::Jet<T, N>’
  2950. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  2951. ^
  2952. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  2953. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  2954. from /usr/local/include/ceres/ceres.h:37,
  2955. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  2956. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  2957. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2958. /usr/local/include/ceres/jet.h:362:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(const ceres::Jet<T, N>&, T)
  2959. Jet<T, N> operator*(const Jet<T, N>& f, T s) {
  2960. ^
  2961. /usr/local/include/ceres/jet.h:362:11: note: template argument deduction/substitution failed:
  2962. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2963. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2964. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const ceres::Jet<T, N>’ and ‘double’
  2965. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  2966. ^
  2967. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  2968. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  2969. from /usr/local/include/ceres/ceres.h:37,
  2970. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  2971. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  2972. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2973. /usr/local/include/ceres/jet.h:355:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(const ceres::Jet<T, N>&, const ceres::Jet<T, N>&)
  2974. Jet<T, N> operator*(const Jet<T, N>& f,
  2975. ^
  2976. /usr/local/include/ceres/jet.h:355:11: note: template argument deduction/substitution failed:
  2977. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2978. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2979. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const ceres::Jet<T, N>’ and ‘double’
  2980. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  2981. ^
  2982. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: error: no match for ‘operator*’ (operand types are ‘double’ and ‘Eigen::Matrix<ceres::Jet<double, 60>, 3, 1, 0, 3, 1>’)
  2983. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  2984. ^
  2985. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: candidates are:
  2986. In file included from /usr/include/eigen3/Eigen/Geometry:43:0,
  2987. from /usr/include/eigen3/Eigen/Dense:6,
  2988. from /usr/include/eigen3/Eigen/Eigen:1,
  2989. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  2990. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2991. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template<class OtherDerived> Eigen::Translation<ceres::Jet<double, 300>, 3>::AffineTransformType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Translation<ceres::Jet<double, 300>, 3>&)
  2992. inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
  2993. ^
  2994. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template argument deduction/substitution failed:
  2995. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  2996. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  2997. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  2998. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  2999. ^
  3000. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  3001. from /usr/include/eigen3/Eigen/Dense:6,
  3002. from /usr/include/eigen3/Eigen/Eigen:1,
  3003. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3004. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3005. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<ceres::Jet<double, 300>, 0>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<ceres::Jet<double, 300>, 0>&)
  3006. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  3007. ^
  3008. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  3009. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3010. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3011. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  3012. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  3013. ^
  3014. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  3015. from /usr/include/eigen3/Eigen/Dense:1,
  3016. from /usr/include/eigen3/Eigen/Eigen:1,
  3017. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3018. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3019. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<9, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Matrix<double, -1, -1, 0, 3, 2>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Matrix<double, -1, -1, 0, 3, 2>, 9u>&)
  3020. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  3021. ^
  3022. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  3023. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3024. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3025. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  3026. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  3027. ^
  3028. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  3029. from /usr/include/eigen3/Eigen/Dense:1,
  3030. from /usr/include/eigen3/Eigen/Eigen:1,
  3031. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3032. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3033. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<10, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Matrix<double, 3, 3>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Matrix<double, 3, 3>, 10u>&)
  3034. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  3035. ^
  3036. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  3037. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3038. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3039. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  3040. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  3041. ^
  3042. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  3043. from /usr/include/eigen3/Eigen/Dense:1,
  3044. from /usr/include/eigen3/Eigen/Eigen:1,
  3045. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3046. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3047. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<9, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 9u>&)
  3048. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  3049. ^
  3050. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  3051. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3052. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3053. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  3054. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  3055. ^
  3056. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  3057. from /usr/include/eigen3/Eigen/Dense:1,
  3058. from /usr/include/eigen3/Eigen/Eigen:1,
  3059. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3060. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3061. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<1, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 1u>&)
  3062. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  3063. ^
  3064. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  3065. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3066. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3067. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  3068. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  3069. ^
  3070. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  3071. from /usr/include/eigen3/Eigen/Dense:1,
  3072. from /usr/include/eigen3/Eigen/Eigen:1,
  3073. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3074. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3075. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<2, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 2u>&)
  3076. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  3077. ^
  3078. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  3079. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3080. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3081. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  3082. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  3083. ^
  3084. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  3085. from /usr/include/eigen3/Eigen/Dense:1,
  3086. from /usr/include/eigen3/Eigen/Eigen:1,
  3087. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3088. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3089. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:251:33: note: template<class Other> Eigen::PermutationBase<Eigen::PermutationMatrix<2, 2, int> >::PlainPermutationType Eigen::operator*(const Eigen::Transpose<Eigen::PermutationBase<Derived> >&, const Eigen::PermutationBase<Eigen::PermutationMatrix<2, 2, int> >&)
  3090. inline PlainPermutationType operator*(const Transpose<PermutationBase<Other> >& other, const PermutationBase& perm)
  3091. ^
  3092. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:251:33: note: template argument deduction/substitution failed:
  3093. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3094. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3095. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::Transpose<Eigen::PermutationBase<Derived> >’ and ‘double’
  3096. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  3097. ^
  3098. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  3099. from /usr/include/eigen3/Eigen/Dense:6,
  3100. from /usr/include/eigen3/Eigen/Eigen:1,
  3101. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3102. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3103. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::AngleAxis<double>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::AngleAxis<double>&)
  3104. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  3105. ^
  3106. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  3107. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3108. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3109. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  3110. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  3111. ^
  3112. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  3113. from /usr/include/eigen3/Eigen/Dense:6,
  3114. from /usr/include/eigen3/Eigen/Eigen:1,
  3115. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3116. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3117. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template<class DiagonalDerived> Eigen::Transform<double, 3, 2>::TransformTimeDiagonalReturnType Eigen::operator*(const Eigen::DiagonalBase<T>&, const Eigen::Transform<double, 3, 2>&)
  3118. operator * (const DiagonalBase<DiagonalDerived> &a, const Transform &b)
  3119. ^
  3120. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template argument deduction/substitution failed:
  3121. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3122. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3123. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::DiagonalBase<T>’ and ‘double’
  3124. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  3125. ^
  3126. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  3127. from /usr/include/eigen3/Eigen/Dense:6,
  3128. from /usr/include/eigen3/Eigen/Eigen:1,
  3129. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3130. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3131. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template<class OtherDerived> const typename Eigen::internal::transform_left_product_impl<OtherDerived, 2, 0, 3, 4, OtherDerived:: RowsAtCompileTime, OtherDerived:: ColsAtCompileTime>::ResultType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Transform<double, 3, 2>&)
  3132. operator * (const EigenBase<OtherDerived> &a, const Transform &b)
  3133. ^
  3134. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template argument deduction/substitution failed:
  3135. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3136. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3137. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  3138. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  3139. ^
  3140. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  3141. from /usr/include/eigen3/Eigen/Dense:6,
  3142. from /usr/include/eigen3/Eigen/Eigen:1,
  3143. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3144. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3145. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template<class DiagonalDerived> Eigen::Transform<double, 3, 2, 1>::TransformTimeDiagonalReturnType Eigen::operator*(const Eigen::DiagonalBase<T>&, const Eigen::Transform<double, 3, 2, 1>&)
  3146. operator * (const DiagonalBase<DiagonalDerived> &a, const Transform &b)
  3147. ^
  3148. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template argument deduction/substitution failed:
  3149. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3150. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3151. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::DiagonalBase<T>’ and ‘double’
  3152. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  3153. ^
  3154. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  3155. from /usr/include/eigen3/Eigen/Dense:6,
  3156. from /usr/include/eigen3/Eigen/Eigen:1,
  3157. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3158. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3159. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template<class OtherDerived> const typename Eigen::internal::transform_left_product_impl<OtherDerived, 2, 1, 3, 4, OtherDerived:: RowsAtCompileTime, OtherDerived:: ColsAtCompileTime>::ResultType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Transform<double, 3, 2, 1>&)
  3160. operator * (const EigenBase<OtherDerived> &a, const Transform &b)
  3161. ^
  3162. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template argument deduction/substitution failed:
  3163. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3164. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3165. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  3166. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  3167. ^
  3168. In file included from /usr/include/eigen3/Eigen/Geometry:43:0,
  3169. from /usr/include/eigen3/Eigen/Dense:6,
  3170. from /usr/include/eigen3/Eigen/Eigen:1,
  3171. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3172. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3173. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template<class OtherDerived> Eigen::Translation<double, 3>::AffineTransformType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Translation<double, 3>&)
  3174. inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
  3175. ^
  3176. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template argument deduction/substitution failed:
  3177. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3178. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3179. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  3180. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  3181. ^
  3182. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  3183. from /usr/include/eigen3/Eigen/Dense:6,
  3184. from /usr/include/eigen3/Eigen/Eigen:1,
  3185. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3186. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3187. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<double>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<double>&)
  3188. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  3189. ^
  3190. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  3191. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3192. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3193. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  3194. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  3195. ^
  3196. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  3197. from /usr/include/eigen3/Eigen/Dense:6,
  3198. from /usr/include/eigen3/Eigen/Eigen:1,
  3199. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3200. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3201. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<float>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<float>&)
  3202. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  3203. ^
  3204. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  3205. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3206. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3207. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  3208. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  3209. ^
  3210. In file included from /usr/include/eigen3/Eigen/Householder:17:0,
  3211. from /usr/include/eigen3/Eigen/QR:10,
  3212. from /usr/include/eigen3/Eigen/Dense:4,
  3213. from /usr/include/eigen3/Eigen/Eigen:1,
  3214. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3215. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3216. /usr/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:409:99: note: template<class OtherDerived, class VectorsType, class CoeffsType, int Side> typename Eigen::internal::matrix_type_times_scalar_type<typename VectorsType::Scalar, OtherDerived>::Type Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::HouseholderSequence<VectorsType, CoeffsType, Side>&)
  3217. typename internal::matrix_type_times_scalar_type<typename VectorsType::Scalar,OtherDerived>::Type operator*(const MatrixBase<OtherDerived>& other, const HouseholderSequence<VectorsType,CoeffsType,Side>& h)
  3218. ^
  3219. /usr/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:409:99: note: template argument deduction/substitution failed:
  3220. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3221. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3222. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  3223. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  3224. ^
  3225. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  3226. from /usr/include/eigen3/Eigen/Dense:1,
  3227. from /usr/include/eigen3/Eigen/Eigen:1,
  3228. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3229. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3230. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:216:1: note: template<class Derived, class Lhs, class Rhs> typename Eigen::internal::enable_if<(! Eigen::internal::is_same<typename Derived::Scalar, typename Derived::RealScalar>::value), const Eigen::ScaledProduct<Derived> >::type Eigen::operator*(const typename Derived::RealScalar&, const Eigen::ProductBase<Derived, _Lhs, _Rhs>&)
  3231. operator*(const typename Derived::RealScalar& x,const ProductBase<Derived,Lhs,Rhs>& prod)
  3232. ^
  3233. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:216:1: note: template argument deduction/substitution failed:
  3234. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3235. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3236. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: ‘Eigen::Matrix<ceres::Jet<double, 60>, 3, 1, 0, 3, 1>’ is not derived from ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’
  3237. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  3238. ^
  3239. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  3240. from /usr/include/eigen3/Eigen/Dense:1,
  3241. from /usr/include/eigen3/Eigen/Eigen:1,
  3242. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3243. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3244. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:210:1: note: template<class Derived, class Lhs, class Rhs> const Eigen::ScaledProduct<Derived> Eigen::operator*(const typename Derived::Scalar&, const Eigen::ProductBase<Derived, _Lhs, _Rhs>&)
  3245. operator*(const typename Derived::Scalar& x,const ProductBase<Derived,Lhs,Rhs>& prod)
  3246. ^
  3247. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:210:1: note: template argument deduction/substitution failed:
  3248. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3249. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3250. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: ‘Eigen::Matrix<ceres::Jet<double, 60>, 3, 1, 0, 3, 1>’ is not derived from ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’
  3251. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  3252. ^
  3253. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  3254. from /usr/include/eigen3/Eigen/Dense:1,
  3255. from /usr/include/eigen3/Eigen/Eigen:1,
  3256. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3257. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3258. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:204:1: note: template<class Derived, class Lhs, class Rhs> typename Eigen::internal::enable_if<(! Eigen::internal::is_same<typename Derived::Scalar, typename Derived::RealScalar>::value), const Eigen::ScaledProduct<Derived> >::type Eigen::operator*(const Eigen::ProductBase<Derived, _Lhs, _Rhs>&, const typename Derived::RealScalar&)
  3259. operator*(const ProductBase<Derived,Lhs,Rhs>& prod, const typename Derived::RealScalar& x)
  3260. ^
  3261. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:204:1: note: template argument deduction/substitution failed:
  3262. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3263. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3264. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’ and ‘double’
  3265. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  3266. ^
  3267. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  3268. from /usr/include/eigen3/Eigen/Dense:1,
  3269. from /usr/include/eigen3/Eigen/Eigen:1,
  3270. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3271. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3272. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:198:1: note: template<class Derived, class Lhs, class Rhs> const Eigen::ScaledProduct<Derived> Eigen::operator*(const Eigen::ProductBase<Derived, _Lhs, _Rhs>&, const typename Derived::Scalar&)
  3273. operator*(const ProductBase<Derived,Lhs,Rhs>& prod, const typename Derived::Scalar& x)
  3274. ^
  3275. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:198:1: note: template argument deduction/substitution failed:
  3276. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3277. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3278. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’ and ‘double’
  3279. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  3280. ^
  3281. In file included from /usr/include/eigen3/Eigen/Core:314:0,
  3282. from /usr/include/eigen3/Eigen/Dense:1,
  3283. from /usr/include/eigen3/Eigen/Eigen:1,
  3284. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3285. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3286. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:344:1: note: template<class Derived, class TranspositionDerived> const Eigen::internal::transposition_matrix_product_retval<TranspositionDerived, Derived, 1> Eigen::operator*(const Eigen::TranspositionsBase<TranspositionsDerived>&, const Eigen::MatrixBase<Derived>&)
  3287. operator*(const TranspositionsBase<TranspositionDerived> &transpositions,
  3288. ^
  3289. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:344:1: note: template argument deduction/substitution failed:
  3290. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3291. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3292. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::TranspositionsBase<TranspositionsDerived>’ and ‘double’
  3293. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  3294. ^
  3295. In file included from /usr/include/eigen3/Eigen/Core:314:0,
  3296. from /usr/include/eigen3/Eigen/Dense:1,
  3297. from /usr/include/eigen3/Eigen/Eigen:1,
  3298. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3299. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3300. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:331:1: note: template<class Derived, class TranspositionsDerived> const Eigen::internal::transposition_matrix_product_retval<TranspositionsDerived, Derived, 2> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TranspositionsBase<TranspositionsDerived>&)
  3301. operator*(const MatrixBase<Derived>& matrix,
  3302. ^
  3303. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:331:1: note: template argument deduction/substitution failed:
  3304. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3305. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3306. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  3307. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  3308. ^
  3309. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  3310. from /usr/include/eigen3/Eigen/Dense:1,
  3311. from /usr/include/eigen3/Eigen/Eigen:1,
  3312. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3313. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3314. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:523:1: note: template<class Derived, class PermutationDerived> const Eigen::internal::permut_matrix_product_retval<PermutationDerived, Derived, 1> Eigen::operator*(const Eigen::PermutationBase<PermutationDerived>&, const Eigen::MatrixBase<Derived>&)
  3315. operator*(const PermutationBase<PermutationDerived> &permutation,
  3316. ^
  3317. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:523:1: note: template argument deduction/substitution failed:
  3318. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3319. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3320. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::PermutationBase<PermutationDerived>’ and ‘double’
  3321. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  3322. ^
  3323. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  3324. from /usr/include/eigen3/Eigen/Dense:1,
  3325. from /usr/include/eigen3/Eigen/Eigen:1,
  3326. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3327. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3328. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:510:1: note: template<class Derived, class PermutationDerived> const Eigen::internal::permut_matrix_product_retval<PermutationDerived, Derived, 2> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::PermutationBase<PermutationDerived>&)
  3329. operator*(const MatrixBase<Derived>& matrix,
  3330. ^
  3331. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:510:1: note: template argument deduction/substitution failed:
  3332. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3333. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3334. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  3335. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  3336. ^
  3337. In file included from /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:136:0,
  3338. from /usr/include/eigen3/Eigen/Core:279,
  3339. from /usr/include/eigen3/Eigen/Dense:1,
  3340. from /usr/include/eigen3/Eigen/Eigen:1,
  3341. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3342. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3343. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:80:1: note: const Eigen::CwiseUnaryOp<Eigen::internal::scalar_multiple2_op<ceres::Jet<double, 60>, std::complex<ceres::Jet<double, 60> > >, const Eigen::Matrix<ceres::Jet<double, 60>, 3, 1, 0, 3, 1> > Eigen::operator*(const std::complex<ceres::Jet<double, 60> >&, const StorageBaseType&)
  3344. operator*(const std::complex<Scalar>& scalar, const StorageBaseType& matrix)
  3345. ^
  3346. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:80:1: note: no known conversion for argument 1 from ‘double’ to ‘const std::complex<ceres::Jet<double, 60> >&’
  3347. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:76:1: note: const ScalarMultipleReturnType Eigen::operator*(const Scalar&, const StorageBaseType&)
  3348. operator*(const Scalar& scalar, const StorageBaseType& matrix)
  3349. ^
  3350. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:76:1: note: no known conversion for argument 1 from ‘double’ to ‘const Scalar& {aka const ceres::Jet<double, 60>&}’
  3351. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  3352. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  3353. from /usr/local/include/ceres/ceres.h:37,
  3354. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  3355. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  3356. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3357. /usr/local/include/ceres/jet.h:368:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(T, const ceres::Jet<T, N>&)
  3358. Jet<T, N> operator*(T s, const Jet<T, N>& f) {
  3359. ^
  3360. /usr/local/include/ceres/jet.h:368:11: note: template argument deduction/substitution failed:
  3361. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3362. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3363. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: ‘Eigen::Matrix<ceres::Jet<double, 60>, 3, 1, 0, 3, 1>’ is not derived from ‘const ceres::Jet<T, N>’
  3364. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  3365. ^
  3366. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  3367. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  3368. from /usr/local/include/ceres/ceres.h:37,
  3369. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  3370. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  3371. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3372. /usr/local/include/ceres/jet.h:362:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(const ceres::Jet<T, N>&, T)
  3373. Jet<T, N> operator*(const Jet<T, N>& f, T s) {
  3374. ^
  3375. /usr/local/include/ceres/jet.h:362:11: note: template argument deduction/substitution failed:
  3376. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3377. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3378. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const ceres::Jet<T, N>’ and ‘double’
  3379. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  3380. ^
  3381. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  3382. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  3383. from /usr/local/include/ceres/ceres.h:37,
  3384. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  3385. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  3386. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3387. /usr/local/include/ceres/jet.h:355:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(const ceres::Jet<T, N>&, const ceres::Jet<T, N>&)
  3388. Jet<T, N> operator*(const Jet<T, N>& f,
  3389. ^
  3390. /usr/local/include/ceres/jet.h:355:11: note: template argument deduction/substitution failed:
  3391. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3392. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3393. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const ceres::Jet<T, N>’ and ‘double’
  3394. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  3395. ^
  3396. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: error: no match for ‘operator*’ (operand types are ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 60>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 60>, 3, 1, 0, 3, 1>}’ and ‘double’)
  3397. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  3398. ^
  3399. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: candidates are:
  3400. In file included from /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:136:0,
  3401. from /usr/include/eigen3/Eigen/Core:279,
  3402. from /usr/include/eigen3/Eigen/Dense:1,
  3403. from /usr/include/eigen3/Eigen/Eigen:1,
  3404. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3405. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3406. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:49:1: note: const ScalarMultipleReturnType Eigen::MatrixBase<Derived>::operator*(const Scalar&) const [with Derived = Eigen::Matrix<ceres::Jet<double, 60>, 3, 1, 0, 3, 1>; Eigen::MatrixBase<Derived>::ScalarMultipleReturnType = Eigen::CwiseUnaryOp<Eigen::internal::scalar_multiple_op<ceres::Jet<double, 60> >, const Eigen::Matrix<ceres::Jet<double, 60>, 3, 1, 0, 3, 1> >; typename Eigen::internal::traits<T>::Scalar = ceres::Jet<double, 60>; Eigen::MatrixBase<Derived>::Scalar = ceres::Jet<double, 60>]
  3407. operator*(const Scalar& scalar) const
  3408. ^
  3409. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:49:1: note: no known conversion for argument 1 from ‘double’ to ‘const Scalar& {aka const ceres::Jet<double, 60>&}’
  3410. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:69:1: note: const Eigen::CwiseUnaryOp<Eigen::internal::scalar_multiple2_op<typename Eigen::internal::traits<T>::Scalar, std::complex<typename Eigen::internal::traits<T>::Scalar> >, const Derived> Eigen::MatrixBase<Derived>::operator*(const std::complex<typename Eigen::internal::traits<T>::Scalar>&) const [with Derived = Eigen::Matrix<ceres::Jet<double, 60>, 3, 1, 0, 3, 1>; typename Eigen::internal::traits<T>::Scalar = ceres::Jet<double, 60>]
  3411. operator*(const std::complex<Scalar>& scalar) const
  3412. ^
  3413. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:69:1: note: no known conversion for argument 1 from ‘double’ to ‘const std::complex<ceres::Jet<double, 60> >&’
  3414. In file included from /usr/include/eigen3/Eigen/Core:323:0,
  3415. from /usr/include/eigen3/Eigen/Dense:1,
  3416. from /usr/include/eigen3/Eigen/Eigen:1,
  3417. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3418. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3419. /usr/include/eigen3/Eigen/src/Core/GeneralProduct.h:571:1: note: template<class OtherDerived> const typename Eigen::ProductReturnType<Derived, OtherDerived>::Type Eigen::MatrixBase<Derived>::operator*(const Eigen::MatrixBase<OtherDerived>&) const [with OtherDerived = OtherDerived; Derived = Eigen::Matrix<ceres::Jet<double, 60>, 3, 1, 0, 3, 1>]
  3420. MatrixBase<Derived>::operator*(const MatrixBase<OtherDerived> &other) const
  3421. ^
  3422. /usr/include/eigen3/Eigen/src/Core/GeneralProduct.h:571:1: note: template argument deduction/substitution failed:
  3423. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3424. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3425. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  3426. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  3427. ^
  3428. In file included from /usr/include/eigen3/Eigen/Core:279:0,
  3429. from /usr/include/eigen3/Eigen/Dense:1,
  3430. from /usr/include/eigen3/Eigen/Eigen:1,
  3431. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3432. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3433. /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:194:5: note: template<class DiagonalDerived> const Eigen::DiagonalProduct<Derived, DiagonalDerived, 2> Eigen::MatrixBase<Derived>::operator*(const Eigen::DiagonalBase<DiagonalDerived>&) const [with DiagonalDerived = DiagonalDerived; Derived = Eigen::Matrix<ceres::Jet<double, 60>, 3, 1, 0, 3, 1>]
  3434. operator*(const DiagonalBase<DiagonalDerived> &diagonal) const;
  3435. ^
  3436. /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:194:5: note: template argument deduction/substitution failed:
  3437. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3438. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3439. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: mismatched types ‘const Eigen::DiagonalBase<T>’ and ‘double’
  3440. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  3441. ^
  3442. In file included from /usr/include/eigen3/Eigen/Geometry:44:0,
  3443. from /usr/include/eigen3/Eigen/Dense:6,
  3444. from /usr/include/eigen3/Eigen/Eigen:1,
  3445. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3446. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3447. /usr/include/eigen3/Eigen/src/Geometry/Scaling.h:111:1: note: Eigen::MatrixBase<Derived>::ScalarMultipleReturnType Eigen::MatrixBase<Derived>::operator*(const Eigen::UniformScaling<typename Eigen::internal::traits<T>::Scalar>&) const [with Derived = Eigen::Matrix<ceres::Jet<double, 60>, 3, 1, 0, 3, 1>; Eigen::MatrixBase<Derived>::ScalarMultipleReturnType = Eigen::CwiseUnaryOp<Eigen::internal::scalar_multiple_op<ceres::Jet<double, 60> >, const Eigen::Matrix<ceres::Jet<double, 60>, 3, 1, 0, 3, 1> >; typename Eigen::internal::traits<T>::Scalar = ceres::Jet<double, 60>]
  3448. MatrixBase<Derived>::operator*(const UniformScaling<Scalar>& s) const
  3449. ^
  3450. /usr/include/eigen3/Eigen/src/Geometry/Scaling.h:111:1: note: no known conversion for argument 1 from ‘double’ to ‘const Eigen::UniformScaling<ceres::Jet<double, 60> >&’
  3451. In file included from /usr/include/eigen3/Eigen/Geometry:43:0,
  3452. from /usr/include/eigen3/Eigen/Dense:6,
  3453. from /usr/include/eigen3/Eigen/Eigen:1,
  3454. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3455. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3456. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template<class OtherDerived> Eigen::Translation<ceres::Jet<double, 60>, 3>::AffineTransformType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Translation<ceres::Jet<double, 60>, 3>&)
  3457. inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
  3458. ^
  3459. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template argument deduction/substitution failed:
  3460. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3461. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3462. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<20, 16>*)this)->ridi::LocalSpeedFunctor<20, 16>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<20, 16>*)this)->ridi::LocalSpeedFunctor<20, 16>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Translation<ceres::Jet<double, 60>, 3>&’
  3463. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  3464. ^
  3465. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  3466. from /usr/include/eigen3/Eigen/Dense:6,
  3467. from /usr/include/eigen3/Eigen/Eigen:1,
  3468. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3469. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3470. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<ceres::Jet<double, 60>, 0>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<ceres::Jet<double, 60>, 0>&)
  3471. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  3472. ^
  3473. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  3474. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3475. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3476. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<20, 16>*)this)->ridi::LocalSpeedFunctor<20, 16>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<20, 16>*)this)->ridi::LocalSpeedFunctor<20, 16>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Quaternion<ceres::Jet<double, 60>, 0>&’
  3477. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  3478. ^
  3479. In file included from /usr/include/eigen3/Eigen/Geometry:43:0,
  3480. from /usr/include/eigen3/Eigen/Dense:6,
  3481. from /usr/include/eigen3/Eigen/Eigen:1,
  3482. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3483. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3484. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template<class OtherDerived> Eigen::Translation<ceres::Jet<double, 300>, 3>::AffineTransformType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Translation<ceres::Jet<double, 300>, 3>&)
  3485. inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
  3486. ^
  3487. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template argument deduction/substitution failed:
  3488. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3489. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3490. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<20, 16>*)this)->ridi::LocalSpeedFunctor<20, 16>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<20, 16>*)this)->ridi::LocalSpeedFunctor<20, 16>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Translation<ceres::Jet<double, 300>, 3>&’
  3491. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  3492. ^
  3493. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  3494. from /usr/include/eigen3/Eigen/Dense:6,
  3495. from /usr/include/eigen3/Eigen/Eigen:1,
  3496. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3497. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3498. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<ceres::Jet<double, 300>, 0>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<ceres::Jet<double, 300>, 0>&)
  3499. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  3500. ^
  3501. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  3502. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3503. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3504. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<20, 16>*)this)->ridi::LocalSpeedFunctor<20, 16>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<20, 16>*)this)->ridi::LocalSpeedFunctor<20, 16>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Quaternion<ceres::Jet<double, 300>, 0>&’
  3505. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  3506. ^
  3507. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  3508. from /usr/include/eigen3/Eigen/Dense:1,
  3509. from /usr/include/eigen3/Eigen/Eigen:1,
  3510. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3511. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3512. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<9, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Matrix<double, -1, -1, 0, 3, 2>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Matrix<double, -1, -1, 0, 3, 2>, 9u>&)
  3513. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  3514. ^
  3515. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  3516. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3517. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3518. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<20, 16>*)this)->ridi::LocalSpeedFunctor<20, 16>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<20, 16>*)this)->ridi::LocalSpeedFunctor<20, 16>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::TriangularView<Eigen::Matrix<double, -1, -1, 0, 3, 2>, 9u>&’
  3519. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  3520. ^
  3521. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  3522. from /usr/include/eigen3/Eigen/Dense:1,
  3523. from /usr/include/eigen3/Eigen/Eigen:1,
  3524. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3525. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3526. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<10, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Matrix<double, 3, 3>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Matrix<double, 3, 3>, 10u>&)
  3527. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  3528. ^
  3529. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  3530. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3531. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3532. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<20, 16>*)this)->ridi::LocalSpeedFunctor<20, 16>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<20, 16>*)this)->ridi::LocalSpeedFunctor<20, 16>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::TriangularView<Eigen::Matrix<double, 3, 3>, 10u>&’
  3533. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  3534. ^
  3535. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  3536. from /usr/include/eigen3/Eigen/Dense:1,
  3537. from /usr/include/eigen3/Eigen/Eigen:1,
  3538. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3539. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3540. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<9, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 9u>&)
  3541. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  3542. ^
  3543. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  3544. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3545. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3546. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<20, 16>*)this)->ridi::LocalSpeedFunctor<20, 16>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<20, 16>*)this)->ridi::LocalSpeedFunctor<20, 16>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::TriangularView<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 9u>&’
  3547. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  3548. ^
  3549. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  3550. from /usr/include/eigen3/Eigen/Dense:1,
  3551. from /usr/include/eigen3/Eigen/Eigen:1,
  3552. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3553. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3554. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<1, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 1u>&)
  3555. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  3556. ^
  3557. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  3558. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3559. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3560. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<20, 16>*)this)->ridi::LocalSpeedFunctor<20, 16>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<20, 16>*)this)->ridi::LocalSpeedFunctor<20, 16>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 1u>&’
  3561. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  3562. ^
  3563. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  3564. from /usr/include/eigen3/Eigen/Dense:1,
  3565. from /usr/include/eigen3/Eigen/Eigen:1,
  3566. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3567. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3568. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<2, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 2u>&)
  3569. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  3570. ^
  3571. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  3572. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3573. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3574. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<20, 16>*)this)->ridi::LocalSpeedFunctor<20, 16>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<20, 16>*)this)->ridi::LocalSpeedFunctor<20, 16>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::TriangularView<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 2u>&’
  3575. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  3576. ^
  3577. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  3578. from /usr/include/eigen3/Eigen/Dense:1,
  3579. from /usr/include/eigen3/Eigen/Eigen:1,
  3580. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3581. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3582. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:251:33: note: template<class Other> Eigen::PermutationBase<Eigen::PermutationMatrix<2, 2, int> >::PlainPermutationType Eigen::operator*(const Eigen::Transpose<Eigen::PermutationBase<Derived> >&, const Eigen::PermutationBase<Eigen::PermutationMatrix<2, 2, int> >&)
  3583. inline PlainPermutationType operator*(const Transpose<PermutationBase<Other> >& other, const PermutationBase& perm)
  3584. ^
  3585. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:251:33: note: template argument deduction/substitution failed:
  3586. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3587. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3588. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 60>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 60>, 3, 1, 0, 3, 1>}’ is not derived from ‘const Eigen::Transpose<Eigen::PermutationBase<Derived> >’
  3589. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  3590. ^
  3591. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  3592. from /usr/include/eigen3/Eigen/Dense:6,
  3593. from /usr/include/eigen3/Eigen/Eigen:1,
  3594. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3595. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3596. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::AngleAxis<double>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::AngleAxis<double>&)
  3597. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  3598. ^
  3599. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  3600. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3601. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3602. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<20, 16>*)this)->ridi::LocalSpeedFunctor<20, 16>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<20, 16>*)this)->ridi::LocalSpeedFunctor<20, 16>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::AngleAxis<double>&’
  3603. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  3604. ^
  3605. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  3606. from /usr/include/eigen3/Eigen/Dense:6,
  3607. from /usr/include/eigen3/Eigen/Eigen:1,
  3608. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3609. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3610. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template<class DiagonalDerived> Eigen::Transform<double, 3, 2>::TransformTimeDiagonalReturnType Eigen::operator*(const Eigen::DiagonalBase<T>&, const Eigen::Transform<double, 3, 2>&)
  3611. operator * (const DiagonalBase<DiagonalDerived> &a, const Transform &b)
  3612. ^
  3613. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template argument deduction/substitution failed:
  3614. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3615. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3616. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 60>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 60>, 3, 1, 0, 3, 1>}’ is not derived from ‘const Eigen::DiagonalBase<T>’
  3617. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  3618. ^
  3619. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  3620. from /usr/include/eigen3/Eigen/Dense:6,
  3621. from /usr/include/eigen3/Eigen/Eigen:1,
  3622. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3623. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3624. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template<class OtherDerived> const typename Eigen::internal::transform_left_product_impl<OtherDerived, 2, 0, 3, 4, OtherDerived:: RowsAtCompileTime, OtherDerived:: ColsAtCompileTime>::ResultType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Transform<double, 3, 2>&)
  3625. operator * (const EigenBase<OtherDerived> &a, const Transform &b)
  3626. ^
  3627. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template argument deduction/substitution failed:
  3628. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3629. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3630. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<20, 16>*)this)->ridi::LocalSpeedFunctor<20, 16>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<20, 16>*)this)->ridi::LocalSpeedFunctor<20, 16>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Transform<double, 3, 2>&’
  3631. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  3632. ^
  3633. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  3634. from /usr/include/eigen3/Eigen/Dense:6,
  3635. from /usr/include/eigen3/Eigen/Eigen:1,
  3636. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3637. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3638. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template<class DiagonalDerived> Eigen::Transform<double, 3, 2, 1>::TransformTimeDiagonalReturnType Eigen::operator*(const Eigen::DiagonalBase<T>&, const Eigen::Transform<double, 3, 2, 1>&)
  3639. operator * (const DiagonalBase<DiagonalDerived> &a, const Transform &b)
  3640. ^
  3641. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template argument deduction/substitution failed:
  3642. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3643. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3644. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 60>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 60>, 3, 1, 0, 3, 1>}’ is not derived from ‘const Eigen::DiagonalBase<T>’
  3645. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  3646. ^
  3647. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  3648. from /usr/include/eigen3/Eigen/Dense:6,
  3649. from /usr/include/eigen3/Eigen/Eigen:1,
  3650. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3651. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3652. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template<class OtherDerived> const typename Eigen::internal::transform_left_product_impl<OtherDerived, 2, 1, 3, 4, OtherDerived:: RowsAtCompileTime, OtherDerived:: ColsAtCompileTime>::ResultType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Transform<double, 3, 2, 1>&)
  3653. operator * (const EigenBase<OtherDerived> &a, const Transform &b)
  3654. ^
  3655. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template argument deduction/substitution failed:
  3656. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3657. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3658. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<20, 16>*)this)->ridi::LocalSpeedFunctor<20, 16>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<20, 16>*)this)->ridi::LocalSpeedFunctor<20, 16>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Transform<double, 3, 2, 1>&’
  3659. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  3660. ^
  3661. In file included from /usr/include/eigen3/Eigen/Geometry:43:0,
  3662. from /usr/include/eigen3/Eigen/Dense:6,
  3663. from /usr/include/eigen3/Eigen/Eigen:1,
  3664. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3665. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3666. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template<class OtherDerived> Eigen::Translation<double, 3>::AffineTransformType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Translation<double, 3>&)
  3667. inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
  3668. ^
  3669. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template argument deduction/substitution failed:
  3670. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3671. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3672. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<20, 16>*)this)->ridi::LocalSpeedFunctor<20, 16>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<20, 16>*)this)->ridi::LocalSpeedFunctor<20, 16>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Translation<double, 3>&’
  3673. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  3674. ^
  3675. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  3676. from /usr/include/eigen3/Eigen/Dense:6,
  3677. from /usr/include/eigen3/Eigen/Eigen:1,
  3678. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3679. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3680. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<double>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<double>&)
  3681. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  3682. ^
  3683. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  3684. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3685. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3686. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<20, 16>*)this)->ridi::LocalSpeedFunctor<20, 16>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<20, 16>*)this)->ridi::LocalSpeedFunctor<20, 16>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Quaternion<double>&’
  3687. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  3688. ^
  3689. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  3690. from /usr/include/eigen3/Eigen/Dense:6,
  3691. from /usr/include/eigen3/Eigen/Eigen:1,
  3692. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3693. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3694. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<float>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<float>&)
  3695. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  3696. ^
  3697. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  3698. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3699. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3700. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<20, 16>*)this)->ridi::LocalSpeedFunctor<20, 16>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<20, 16>*)this)->ridi::LocalSpeedFunctor<20, 16>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Quaternion<float>&’
  3701. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  3702. ^
  3703. In file included from /usr/include/eigen3/Eigen/Householder:17:0,
  3704. from /usr/include/eigen3/Eigen/QR:10,
  3705. from /usr/include/eigen3/Eigen/Dense:4,
  3706. from /usr/include/eigen3/Eigen/Eigen:1,
  3707. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3708. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3709. /usr/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:409:99: note: template<class OtherDerived, class VectorsType, class CoeffsType, int Side> typename Eigen::internal::matrix_type_times_scalar_type<typename VectorsType::Scalar, OtherDerived>::Type Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::HouseholderSequence<VectorsType, CoeffsType, Side>&)
  3710. typename internal::matrix_type_times_scalar_type<typename VectorsType::Scalar,OtherDerived>::Type operator*(const MatrixBase<OtherDerived>& other, const HouseholderSequence<VectorsType,CoeffsType,Side>& h)
  3711. ^
  3712. /usr/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:409:99: note: template argument deduction/substitution failed:
  3713. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3714. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3715. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: mismatched types ‘const Eigen::HouseholderSequence<VectorsType, CoeffsType, Side>’ and ‘double’
  3716. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  3717. ^
  3718. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  3719. from /usr/include/eigen3/Eigen/Dense:1,
  3720. from /usr/include/eigen3/Eigen/Eigen:1,
  3721. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3722. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3723. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:216:1: note: template<class Derived, class Lhs, class Rhs> typename Eigen::internal::enable_if<(! Eigen::internal::is_same<typename Derived::Scalar, typename Derived::RealScalar>::value), const Eigen::ScaledProduct<Derived> >::type Eigen::operator*(const typename Derived::RealScalar&, const Eigen::ProductBase<Derived, _Lhs, _Rhs>&)
  3724. operator*(const typename Derived::RealScalar& x,const ProductBase<Derived,Lhs,Rhs>& prod)
  3725. ^
  3726. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:216:1: note: template argument deduction/substitution failed:
  3727. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3728. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3729. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: mismatched types ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’ and ‘double’
  3730. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  3731. ^
  3732. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  3733. from /usr/include/eigen3/Eigen/Dense:1,
  3734. from /usr/include/eigen3/Eigen/Eigen:1,
  3735. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3736. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3737. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:210:1: note: template<class Derived, class Lhs, class Rhs> const Eigen::ScaledProduct<Derived> Eigen::operator*(const typename Derived::Scalar&, const Eigen::ProductBase<Derived, _Lhs, _Rhs>&)
  3738. operator*(const typename Derived::Scalar& x,const ProductBase<Derived,Lhs,Rhs>& prod)
  3739. ^
  3740. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:210:1: note: template argument deduction/substitution failed:
  3741. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3742. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3743. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: mismatched types ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’ and ‘double’
  3744. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  3745. ^
  3746. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  3747. from /usr/include/eigen3/Eigen/Dense:1,
  3748. from /usr/include/eigen3/Eigen/Eigen:1,
  3749. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3750. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3751. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:204:1: note: template<class Derived, class Lhs, class Rhs> typename Eigen::internal::enable_if<(! Eigen::internal::is_same<typename Derived::Scalar, typename Derived::RealScalar>::value), const Eigen::ScaledProduct<Derived> >::type Eigen::operator*(const Eigen::ProductBase<Derived, _Lhs, _Rhs>&, const typename Derived::RealScalar&)
  3752. operator*(const ProductBase<Derived,Lhs,Rhs>& prod, const typename Derived::RealScalar& x)
  3753. ^
  3754. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:204:1: note: template argument deduction/substitution failed:
  3755. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3756. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3757. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 60>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 60>, 3, 1, 0, 3, 1>}’ is not derived from ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’
  3758. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  3759. ^
  3760. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  3761. from /usr/include/eigen3/Eigen/Dense:1,
  3762. from /usr/include/eigen3/Eigen/Eigen:1,
  3763. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3764. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3765. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:198:1: note: template<class Derived, class Lhs, class Rhs> const Eigen::ScaledProduct<Derived> Eigen::operator*(const Eigen::ProductBase<Derived, _Lhs, _Rhs>&, const typename Derived::Scalar&)
  3766. operator*(const ProductBase<Derived,Lhs,Rhs>& prod, const typename Derived::Scalar& x)
  3767. ^
  3768. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:198:1: note: template argument deduction/substitution failed:
  3769. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3770. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3771. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 60>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 60>, 3, 1, 0, 3, 1>}’ is not derived from ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’
  3772. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  3773. ^
  3774. In file included from /usr/include/eigen3/Eigen/Core:314:0,
  3775. from /usr/include/eigen3/Eigen/Dense:1,
  3776. from /usr/include/eigen3/Eigen/Eigen:1,
  3777. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3778. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3779. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:344:1: note: template<class Derived, class TranspositionDerived> const Eigen::internal::transposition_matrix_product_retval<TranspositionDerived, Derived, 1> Eigen::operator*(const Eigen::TranspositionsBase<TranspositionsDerived>&, const Eigen::MatrixBase<Derived>&)
  3780. operator*(const TranspositionsBase<TranspositionDerived> &transpositions,
  3781. ^
  3782. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:344:1: note: template argument deduction/substitution failed:
  3783. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3784. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3785. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 60>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 60>, 3, 1, 0, 3, 1>}’ is not derived from ‘const Eigen::TranspositionsBase<TranspositionsDerived>’
  3786. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  3787. ^
  3788. In file included from /usr/include/eigen3/Eigen/Core:314:0,
  3789. from /usr/include/eigen3/Eigen/Dense:1,
  3790. from /usr/include/eigen3/Eigen/Eigen:1,
  3791. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3792. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3793. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:331:1: note: template<class Derived, class TranspositionsDerived> const Eigen::internal::transposition_matrix_product_retval<TranspositionsDerived, Derived, 2> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TranspositionsBase<TranspositionsDerived>&)
  3794. operator*(const MatrixBase<Derived>& matrix,
  3795. ^
  3796. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:331:1: note: template argument deduction/substitution failed:
  3797. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3798. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3799. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: mismatched types ‘const Eigen::TranspositionsBase<TranspositionsDerived>’ and ‘double’
  3800. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  3801. ^
  3802. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  3803. from /usr/include/eigen3/Eigen/Dense:1,
  3804. from /usr/include/eigen3/Eigen/Eigen:1,
  3805. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3806. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3807. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:523:1: note: template<class Derived, class PermutationDerived> const Eigen::internal::permut_matrix_product_retval<PermutationDerived, Derived, 1> Eigen::operator*(const Eigen::PermutationBase<PermutationDerived>&, const Eigen::MatrixBase<Derived>&)
  3808. operator*(const PermutationBase<PermutationDerived> &permutation,
  3809. ^
  3810. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:523:1: note: template argument deduction/substitution failed:
  3811. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3812. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3813. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 60>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 60>, 3, 1, 0, 3, 1>}’ is not derived from ‘const Eigen::PermutationBase<PermutationDerived>’
  3814. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  3815. ^
  3816. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  3817. from /usr/include/eigen3/Eigen/Dense:1,
  3818. from /usr/include/eigen3/Eigen/Eigen:1,
  3819. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3820. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3821. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:510:1: note: template<class Derived, class PermutationDerived> const Eigen::internal::permut_matrix_product_retval<PermutationDerived, Derived, 2> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::PermutationBase<PermutationDerived>&)
  3822. operator*(const MatrixBase<Derived>& matrix,
  3823. ^
  3824. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:510:1: note: template argument deduction/substitution failed:
  3825. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3826. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3827. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: mismatched types ‘const Eigen::PermutationBase<PermutationDerived>’ and ‘double’
  3828. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  3829. ^
  3830. In file included from /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:136:0,
  3831. from /usr/include/eigen3/Eigen/Core:279,
  3832. from /usr/include/eigen3/Eigen/Dense:1,
  3833. from /usr/include/eigen3/Eigen/Eigen:1,
  3834. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3835. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3836. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:80:1: note: const Eigen::CwiseUnaryOp<Eigen::internal::scalar_multiple2_op<ceres::Jet<double, 60>, std::complex<ceres::Jet<double, 60> > >, const Eigen::Matrix<ceres::Jet<double, 60>, 3, 1, 0, 3, 1> > Eigen::operator*(const std::complex<ceres::Jet<double, 60> >&, const StorageBaseType&)
  3837. operator*(const std::complex<Scalar>& scalar, const StorageBaseType& matrix)
  3838. ^
  3839. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:80:1: note: no known conversion for argument 1 from ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 60>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 60>, 3, 1, 0, 3, 1>}’ to ‘const std::complex<ceres::Jet<double, 60> >&’
  3840. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:76:1: note: const ScalarMultipleReturnType Eigen::operator*(const Scalar&, const StorageBaseType&)
  3841. operator*(const Scalar& scalar, const StorageBaseType& matrix)
  3842. ^
  3843. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:76:1: note: no known conversion for argument 1 from ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 60>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 60>, 3, 1, 0, 3, 1>}’ to ‘const Scalar& {aka const ceres::Jet<double, 60>&}’
  3844. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  3845. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  3846. from /usr/local/include/ceres/ceres.h:37,
  3847. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  3848. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  3849. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3850. /usr/local/include/ceres/jet.h:368:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(T, const ceres::Jet<T, N>&)
  3851. Jet<T, N> operator*(T s, const Jet<T, N>& f) {
  3852. ^
  3853. /usr/local/include/ceres/jet.h:368:11: note: template argument deduction/substitution failed:
  3854. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3855. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3856. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: mismatched types ‘const ceres::Jet<T, N>’ and ‘double’
  3857. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  3858. ^
  3859. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  3860. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  3861. from /usr/local/include/ceres/ceres.h:37,
  3862. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  3863. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  3864. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3865. /usr/local/include/ceres/jet.h:362:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(const ceres::Jet<T, N>&, T)
  3866. Jet<T, N> operator*(const Jet<T, N>& f, T s) {
  3867. ^
  3868. /usr/local/include/ceres/jet.h:362:11: note: template argument deduction/substitution failed:
  3869. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3870. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3871. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 60>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 60>, 3, 1, 0, 3, 1>}’ is not derived from ‘const ceres::Jet<T, N>’
  3872. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  3873. ^
  3874. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  3875. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  3876. from /usr/local/include/ceres/ceres.h:37,
  3877. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  3878. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  3879. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3880. /usr/local/include/ceres/jet.h:355:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(const ceres::Jet<T, N>&, const ceres::Jet<T, N>&)
  3881. Jet<T, N> operator*(const Jet<T, N>& f,
  3882. ^
  3883. /usr/local/include/ceres/jet.h:355:11: note: template argument deduction/substitution failed:
  3884. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3885. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3886. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 60>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 60>, 3, 1, 0, 3, 1>}’ is not derived from ‘const ceres::Jet<T, N>’
  3887. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  3888. ^
  3889. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h: In instantiation of ‘bool ridi::LocalSpeedFunctor<KVARIABLE, KCONSTRAINT>::operator()(const T*, const T*, const T*, T*) const [with T = ceres::Jet<double, 48>; int KVARIABLE = 16; int KCONSTRAINT = 12]’:
  3890. /usr/local/include/ceres/internal/variadic_evaluate.h:159:26: required from ‘static bool ceres::internal::VariadicEvaluate<Functor, T, N0, N1, N2, 0, 0, 0, 0, 0, 0, 0>::Call(const Functor&, const T* const*, T*) [with Functor = ridi::LocalSpeedFunctor<16, 12>; T = ceres::Jet<double, 48>; int N0 = 16; int N1 = 16; int N2 = 16]’
  3891. /usr/local/include/ceres/internal/autodiff.h:290:45: required from ‘static bool ceres::internal::AutoDiff<Functor, T, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>::Differentiate(const Functor&, const T* const*, int, T*, T**) [with Functor = ridi::LocalSpeedFunctor<16, 12>; T = double; int N0 = 16; int N1 = 16; int N2 = 16; int N3 = 0; int N4 = 0; int N5 = 0; int N6 = 0; int N7 = 0; int N8 = 0; int N9 = 0]’
  3892. /usr/local/include/ceres/autodiff_cost_function.h:218:25: required from ‘bool ceres::AutoDiffCostFunction<CostFunctor, kNumResiduals, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>::Evaluate(const double* const*, double*, double**) const [with CostFunctor = ridi::LocalSpeedFunctor<16, 12>; int kNumResiduals = 36; int N0 = 16; int N1 = 16; int N2 = 16; int N3 = 0; int N4 = 0; int N5 = 0; int N6 = 0; int N7 = 0; int N8 = 0; int N9 = 0]’
  3893. /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:267:1: required from here
  3894. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: error: no match for ‘operator*’ (operand types are ‘double’ and ‘Eigen::Matrix<ceres::Jet<double, 48>, 3, 1, 0, 3, 1>’)
  3895. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  3896. ^
  3897. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: candidates are:
  3898. In file included from /usr/include/eigen3/Eigen/Geometry:43:0,
  3899. from /usr/include/eigen3/Eigen/Dense:6,
  3900. from /usr/include/eigen3/Eigen/Eigen:1,
  3901. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3902. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3903. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template<class OtherDerived> Eigen::Translation<ceres::Jet<double, 60>, 3>::AffineTransformType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Translation<ceres::Jet<double, 60>, 3>&)
  3904. inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
  3905. ^
  3906. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template argument deduction/substitution failed:
  3907. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3908. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3909. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  3910. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  3911. ^
  3912. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  3913. from /usr/include/eigen3/Eigen/Dense:6,
  3914. from /usr/include/eigen3/Eigen/Eigen:1,
  3915. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3916. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3917. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<ceres::Jet<double, 60>, 0>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<ceres::Jet<double, 60>, 0>&)
  3918. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  3919. ^
  3920. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  3921. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3922. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3923. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  3924. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  3925. ^
  3926. In file included from /usr/include/eigen3/Eigen/Geometry:43:0,
  3927. from /usr/include/eigen3/Eigen/Dense:6,
  3928. from /usr/include/eigen3/Eigen/Eigen:1,
  3929. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3930. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3931. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template<class OtherDerived> Eigen::Translation<ceres::Jet<double, 300>, 3>::AffineTransformType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Translation<ceres::Jet<double, 300>, 3>&)
  3932. inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
  3933. ^
  3934. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template argument deduction/substitution failed:
  3935. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3936. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3937. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  3938. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  3939. ^
  3940. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  3941. from /usr/include/eigen3/Eigen/Dense:6,
  3942. from /usr/include/eigen3/Eigen/Eigen:1,
  3943. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3944. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3945. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<ceres::Jet<double, 300>, 0>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<ceres::Jet<double, 300>, 0>&)
  3946. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  3947. ^
  3948. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  3949. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3950. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3951. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  3952. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  3953. ^
  3954. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  3955. from /usr/include/eigen3/Eigen/Dense:1,
  3956. from /usr/include/eigen3/Eigen/Eigen:1,
  3957. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3958. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3959. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<9, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Matrix<double, -1, -1, 0, 3, 2>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Matrix<double, -1, -1, 0, 3, 2>, 9u>&)
  3960. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  3961. ^
  3962. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  3963. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3964. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3965. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  3966. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  3967. ^
  3968. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  3969. from /usr/include/eigen3/Eigen/Dense:1,
  3970. from /usr/include/eigen3/Eigen/Eigen:1,
  3971. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3972. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3973. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<10, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Matrix<double, 3, 3>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Matrix<double, 3, 3>, 10u>&)
  3974. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  3975. ^
  3976. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  3977. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3978. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3979. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  3980. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  3981. ^
  3982. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  3983. from /usr/include/eigen3/Eigen/Dense:1,
  3984. from /usr/include/eigen3/Eigen/Eigen:1,
  3985. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  3986. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3987. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<9, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 9u>&)
  3988. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  3989. ^
  3990. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  3991. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  3992. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  3993. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  3994. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  3995. ^
  3996. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  3997. from /usr/include/eigen3/Eigen/Dense:1,
  3998. from /usr/include/eigen3/Eigen/Eigen:1,
  3999. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4000. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4001. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<1, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 1u>&)
  4002. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  4003. ^
  4004. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  4005. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4006. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4007. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  4008. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  4009. ^
  4010. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  4011. from /usr/include/eigen3/Eigen/Dense:1,
  4012. from /usr/include/eigen3/Eigen/Eigen:1,
  4013. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4014. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4015. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<2, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 2u>&)
  4016. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  4017. ^
  4018. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  4019. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4020. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4021. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  4022. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  4023. ^
  4024. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  4025. from /usr/include/eigen3/Eigen/Dense:1,
  4026. from /usr/include/eigen3/Eigen/Eigen:1,
  4027. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4028. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4029. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:251:33: note: template<class Other> Eigen::PermutationBase<Eigen::PermutationMatrix<2, 2, int> >::PlainPermutationType Eigen::operator*(const Eigen::Transpose<Eigen::PermutationBase<Derived> >&, const Eigen::PermutationBase<Eigen::PermutationMatrix<2, 2, int> >&)
  4030. inline PlainPermutationType operator*(const Transpose<PermutationBase<Other> >& other, const PermutationBase& perm)
  4031. ^
  4032. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:251:33: note: template argument deduction/substitution failed:
  4033. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4034. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4035. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::Transpose<Eigen::PermutationBase<Derived> >’ and ‘double’
  4036. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  4037. ^
  4038. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  4039. from /usr/include/eigen3/Eigen/Dense:6,
  4040. from /usr/include/eigen3/Eigen/Eigen:1,
  4041. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4042. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4043. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::AngleAxis<double>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::AngleAxis<double>&)
  4044. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  4045. ^
  4046. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  4047. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4048. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4049. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  4050. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  4051. ^
  4052. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  4053. from /usr/include/eigen3/Eigen/Dense:6,
  4054. from /usr/include/eigen3/Eigen/Eigen:1,
  4055. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4056. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4057. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template<class DiagonalDerived> Eigen::Transform<double, 3, 2>::TransformTimeDiagonalReturnType Eigen::operator*(const Eigen::DiagonalBase<T>&, const Eigen::Transform<double, 3, 2>&)
  4058. operator * (const DiagonalBase<DiagonalDerived> &a, const Transform &b)
  4059. ^
  4060. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template argument deduction/substitution failed:
  4061. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4062. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4063. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::DiagonalBase<T>’ and ‘double’
  4064. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  4065. ^
  4066. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  4067. from /usr/include/eigen3/Eigen/Dense:6,
  4068. from /usr/include/eigen3/Eigen/Eigen:1,
  4069. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4070. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4071. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template<class OtherDerived> const typename Eigen::internal::transform_left_product_impl<OtherDerived, 2, 0, 3, 4, OtherDerived:: RowsAtCompileTime, OtherDerived:: ColsAtCompileTime>::ResultType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Transform<double, 3, 2>&)
  4072. operator * (const EigenBase<OtherDerived> &a, const Transform &b)
  4073. ^
  4074. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template argument deduction/substitution failed:
  4075. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4076. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4077. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  4078. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  4079. ^
  4080. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  4081. from /usr/include/eigen3/Eigen/Dense:6,
  4082. from /usr/include/eigen3/Eigen/Eigen:1,
  4083. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4084. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4085. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template<class DiagonalDerived> Eigen::Transform<double, 3, 2, 1>::TransformTimeDiagonalReturnType Eigen::operator*(const Eigen::DiagonalBase<T>&, const Eigen::Transform<double, 3, 2, 1>&)
  4086. operator * (const DiagonalBase<DiagonalDerived> &a, const Transform &b)
  4087. ^
  4088. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template argument deduction/substitution failed:
  4089. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4090. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4091. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::DiagonalBase<T>’ and ‘double’
  4092. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  4093. ^
  4094. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  4095. from /usr/include/eigen3/Eigen/Dense:6,
  4096. from /usr/include/eigen3/Eigen/Eigen:1,
  4097. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4098. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4099. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template<class OtherDerived> const typename Eigen::internal::transform_left_product_impl<OtherDerived, 2, 1, 3, 4, OtherDerived:: RowsAtCompileTime, OtherDerived:: ColsAtCompileTime>::ResultType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Transform<double, 3, 2, 1>&)
  4100. operator * (const EigenBase<OtherDerived> &a, const Transform &b)
  4101. ^
  4102. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template argument deduction/substitution failed:
  4103. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4104. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4105. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  4106. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  4107. ^
  4108. In file included from /usr/include/eigen3/Eigen/Geometry:43:0,
  4109. from /usr/include/eigen3/Eigen/Dense:6,
  4110. from /usr/include/eigen3/Eigen/Eigen:1,
  4111. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4112. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4113. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template<class OtherDerived> Eigen::Translation<double, 3>::AffineTransformType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Translation<double, 3>&)
  4114. inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
  4115. ^
  4116. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template argument deduction/substitution failed:
  4117. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4118. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4119. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  4120. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  4121. ^
  4122. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  4123. from /usr/include/eigen3/Eigen/Dense:6,
  4124. from /usr/include/eigen3/Eigen/Eigen:1,
  4125. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4126. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4127. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<double>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<double>&)
  4128. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  4129. ^
  4130. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  4131. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4132. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4133. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  4134. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  4135. ^
  4136. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  4137. from /usr/include/eigen3/Eigen/Dense:6,
  4138. from /usr/include/eigen3/Eigen/Eigen:1,
  4139. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4140. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4141. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<float>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<float>&)
  4142. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  4143. ^
  4144. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  4145. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4146. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4147. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  4148. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  4149. ^
  4150. In file included from /usr/include/eigen3/Eigen/Householder:17:0,
  4151. from /usr/include/eigen3/Eigen/QR:10,
  4152. from /usr/include/eigen3/Eigen/Dense:4,
  4153. from /usr/include/eigen3/Eigen/Eigen:1,
  4154. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4155. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4156. /usr/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:409:99: note: template<class OtherDerived, class VectorsType, class CoeffsType, int Side> typename Eigen::internal::matrix_type_times_scalar_type<typename VectorsType::Scalar, OtherDerived>::Type Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::HouseholderSequence<VectorsType, CoeffsType, Side>&)
  4157. typename internal::matrix_type_times_scalar_type<typename VectorsType::Scalar,OtherDerived>::Type operator*(const MatrixBase<OtherDerived>& other, const HouseholderSequence<VectorsType,CoeffsType,Side>& h)
  4158. ^
  4159. /usr/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:409:99: note: template argument deduction/substitution failed:
  4160. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4161. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4162. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  4163. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  4164. ^
  4165. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  4166. from /usr/include/eigen3/Eigen/Dense:1,
  4167. from /usr/include/eigen3/Eigen/Eigen:1,
  4168. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4169. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4170. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:216:1: note: template<class Derived, class Lhs, class Rhs> typename Eigen::internal::enable_if<(! Eigen::internal::is_same<typename Derived::Scalar, typename Derived::RealScalar>::value), const Eigen::ScaledProduct<Derived> >::type Eigen::operator*(const typename Derived::RealScalar&, const Eigen::ProductBase<Derived, _Lhs, _Rhs>&)
  4171. operator*(const typename Derived::RealScalar& x,const ProductBase<Derived,Lhs,Rhs>& prod)
  4172. ^
  4173. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:216:1: note: template argument deduction/substitution failed:
  4174. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4175. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4176. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: ‘Eigen::Matrix<ceres::Jet<double, 48>, 3, 1, 0, 3, 1>’ is not derived from ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’
  4177. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  4178. ^
  4179. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  4180. from /usr/include/eigen3/Eigen/Dense:1,
  4181. from /usr/include/eigen3/Eigen/Eigen:1,
  4182. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4183. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4184. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:210:1: note: template<class Derived, class Lhs, class Rhs> const Eigen::ScaledProduct<Derived> Eigen::operator*(const typename Derived::Scalar&, const Eigen::ProductBase<Derived, _Lhs, _Rhs>&)
  4185. operator*(const typename Derived::Scalar& x,const ProductBase<Derived,Lhs,Rhs>& prod)
  4186. ^
  4187. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:210:1: note: template argument deduction/substitution failed:
  4188. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4189. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4190. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: ‘Eigen::Matrix<ceres::Jet<double, 48>, 3, 1, 0, 3, 1>’ is not derived from ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’
  4191. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  4192. ^
  4193. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  4194. from /usr/include/eigen3/Eigen/Dense:1,
  4195. from /usr/include/eigen3/Eigen/Eigen:1,
  4196. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4197. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4198. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:204:1: note: template<class Derived, class Lhs, class Rhs> typename Eigen::internal::enable_if<(! Eigen::internal::is_same<typename Derived::Scalar, typename Derived::RealScalar>::value), const Eigen::ScaledProduct<Derived> >::type Eigen::operator*(const Eigen::ProductBase<Derived, _Lhs, _Rhs>&, const typename Derived::RealScalar&)
  4199. operator*(const ProductBase<Derived,Lhs,Rhs>& prod, const typename Derived::RealScalar& x)
  4200. ^
  4201. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:204:1: note: template argument deduction/substitution failed:
  4202. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4203. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4204. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’ and ‘double’
  4205. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  4206. ^
  4207. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  4208. from /usr/include/eigen3/Eigen/Dense:1,
  4209. from /usr/include/eigen3/Eigen/Eigen:1,
  4210. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4211. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4212. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:198:1: note: template<class Derived, class Lhs, class Rhs> const Eigen::ScaledProduct<Derived> Eigen::operator*(const Eigen::ProductBase<Derived, _Lhs, _Rhs>&, const typename Derived::Scalar&)
  4213. operator*(const ProductBase<Derived,Lhs,Rhs>& prod, const typename Derived::Scalar& x)
  4214. ^
  4215. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:198:1: note: template argument deduction/substitution failed:
  4216. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4217. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4218. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’ and ‘double’
  4219. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  4220. ^
  4221. In file included from /usr/include/eigen3/Eigen/Core:314:0,
  4222. from /usr/include/eigen3/Eigen/Dense:1,
  4223. from /usr/include/eigen3/Eigen/Eigen:1,
  4224. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4225. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4226. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:344:1: note: template<class Derived, class TranspositionDerived> const Eigen::internal::transposition_matrix_product_retval<TranspositionDerived, Derived, 1> Eigen::operator*(const Eigen::TranspositionsBase<TranspositionsDerived>&, const Eigen::MatrixBase<Derived>&)
  4227. operator*(const TranspositionsBase<TranspositionDerived> &transpositions,
  4228. ^
  4229. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:344:1: note: template argument deduction/substitution failed:
  4230. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4231. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4232. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::TranspositionsBase<TranspositionsDerived>’ and ‘double’
  4233. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  4234. ^
  4235. In file included from /usr/include/eigen3/Eigen/Core:314:0,
  4236. from /usr/include/eigen3/Eigen/Dense:1,
  4237. from /usr/include/eigen3/Eigen/Eigen:1,
  4238. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4239. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4240. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:331:1: note: template<class Derived, class TranspositionsDerived> const Eigen::internal::transposition_matrix_product_retval<TranspositionsDerived, Derived, 2> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TranspositionsBase<TranspositionsDerived>&)
  4241. operator*(const MatrixBase<Derived>& matrix,
  4242. ^
  4243. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:331:1: note: template argument deduction/substitution failed:
  4244. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4245. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4246. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  4247. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  4248. ^
  4249. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  4250. from /usr/include/eigen3/Eigen/Dense:1,
  4251. from /usr/include/eigen3/Eigen/Eigen:1,
  4252. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4253. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4254. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:523:1: note: template<class Derived, class PermutationDerived> const Eigen::internal::permut_matrix_product_retval<PermutationDerived, Derived, 1> Eigen::operator*(const Eigen::PermutationBase<PermutationDerived>&, const Eigen::MatrixBase<Derived>&)
  4255. operator*(const PermutationBase<PermutationDerived> &permutation,
  4256. ^
  4257. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:523:1: note: template argument deduction/substitution failed:
  4258. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4259. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4260. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::PermutationBase<PermutationDerived>’ and ‘double’
  4261. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  4262. ^
  4263. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  4264. from /usr/include/eigen3/Eigen/Dense:1,
  4265. from /usr/include/eigen3/Eigen/Eigen:1,
  4266. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4267. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4268. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:510:1: note: template<class Derived, class PermutationDerived> const Eigen::internal::permut_matrix_product_retval<PermutationDerived, Derived, 2> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::PermutationBase<PermutationDerived>&)
  4269. operator*(const MatrixBase<Derived>& matrix,
  4270. ^
  4271. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:510:1: note: template argument deduction/substitution failed:
  4272. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4273. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4274. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  4275. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  4276. ^
  4277. In file included from /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:136:0,
  4278. from /usr/include/eigen3/Eigen/Core:279,
  4279. from /usr/include/eigen3/Eigen/Dense:1,
  4280. from /usr/include/eigen3/Eigen/Eigen:1,
  4281. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4282. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4283. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:80:1: note: const Eigen::CwiseUnaryOp<Eigen::internal::scalar_multiple2_op<ceres::Jet<double, 48>, std::complex<ceres::Jet<double, 48> > >, const Eigen::Matrix<ceres::Jet<double, 48>, 3, 1, 0, 3, 1> > Eigen::operator*(const std::complex<ceres::Jet<double, 48> >&, const StorageBaseType&)
  4284. operator*(const std::complex<Scalar>& scalar, const StorageBaseType& matrix)
  4285. ^
  4286. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:80:1: note: no known conversion for argument 1 from ‘double’ to ‘const std::complex<ceres::Jet<double, 48> >&’
  4287. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:76:1: note: const ScalarMultipleReturnType Eigen::operator*(const Scalar&, const StorageBaseType&)
  4288. operator*(const Scalar& scalar, const StorageBaseType& matrix)
  4289. ^
  4290. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:76:1: note: no known conversion for argument 1 from ‘double’ to ‘const Scalar& {aka const ceres::Jet<double, 48>&}’
  4291. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  4292. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  4293. from /usr/local/include/ceres/ceres.h:37,
  4294. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  4295. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  4296. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4297. /usr/local/include/ceres/jet.h:368:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(T, const ceres::Jet<T, N>&)
  4298. Jet<T, N> operator*(T s, const Jet<T, N>& f) {
  4299. ^
  4300. /usr/local/include/ceres/jet.h:368:11: note: template argument deduction/substitution failed:
  4301. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4302. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4303. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: ‘Eigen::Matrix<ceres::Jet<double, 48>, 3, 1, 0, 3, 1>’ is not derived from ‘const ceres::Jet<T, N>’
  4304. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  4305. ^
  4306. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  4307. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  4308. from /usr/local/include/ceres/ceres.h:37,
  4309. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  4310. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  4311. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4312. /usr/local/include/ceres/jet.h:362:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(const ceres::Jet<T, N>&, T)
  4313. Jet<T, N> operator*(const Jet<T, N>& f, T s) {
  4314. ^
  4315. /usr/local/include/ceres/jet.h:362:11: note: template argument deduction/substitution failed:
  4316. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4317. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4318. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const ceres::Jet<T, N>’ and ‘double’
  4319. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  4320. ^
  4321. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  4322. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  4323. from /usr/local/include/ceres/ceres.h:37,
  4324. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  4325. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  4326. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4327. /usr/local/include/ceres/jet.h:355:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(const ceres::Jet<T, N>&, const ceres::Jet<T, N>&)
  4328. Jet<T, N> operator*(const Jet<T, N>& f,
  4329. ^
  4330. /usr/local/include/ceres/jet.h:355:11: note: template argument deduction/substitution failed:
  4331. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4332. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4333. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const ceres::Jet<T, N>’ and ‘double’
  4334. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  4335. ^
  4336. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: error: no match for ‘operator*’ (operand types are ‘double’ and ‘Eigen::Matrix<ceres::Jet<double, 48>, 3, 1, 0, 3, 1>’)
  4337. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  4338. ^
  4339. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: candidates are:
  4340. In file included from /usr/include/eigen3/Eigen/Geometry:43:0,
  4341. from /usr/include/eigen3/Eigen/Dense:6,
  4342. from /usr/include/eigen3/Eigen/Eigen:1,
  4343. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4344. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4345. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template<class OtherDerived> Eigen::Translation<ceres::Jet<double, 60>, 3>::AffineTransformType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Translation<ceres::Jet<double, 60>, 3>&)
  4346. inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
  4347. ^
  4348. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template argument deduction/substitution failed:
  4349. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4350. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4351. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  4352. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  4353. ^
  4354. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  4355. from /usr/include/eigen3/Eigen/Dense:6,
  4356. from /usr/include/eigen3/Eigen/Eigen:1,
  4357. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4358. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4359. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<ceres::Jet<double, 60>, 0>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<ceres::Jet<double, 60>, 0>&)
  4360. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  4361. ^
  4362. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  4363. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4364. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4365. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  4366. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  4367. ^
  4368. In file included from /usr/include/eigen3/Eigen/Geometry:43:0,
  4369. from /usr/include/eigen3/Eigen/Dense:6,
  4370. from /usr/include/eigen3/Eigen/Eigen:1,
  4371. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4372. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4373. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template<class OtherDerived> Eigen::Translation<ceres::Jet<double, 300>, 3>::AffineTransformType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Translation<ceres::Jet<double, 300>, 3>&)
  4374. inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
  4375. ^
  4376. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template argument deduction/substitution failed:
  4377. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4378. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4379. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  4380. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  4381. ^
  4382. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  4383. from /usr/include/eigen3/Eigen/Dense:6,
  4384. from /usr/include/eigen3/Eigen/Eigen:1,
  4385. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4386. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4387. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<ceres::Jet<double, 300>, 0>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<ceres::Jet<double, 300>, 0>&)
  4388. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  4389. ^
  4390. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  4391. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4392. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4393. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  4394. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  4395. ^
  4396. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  4397. from /usr/include/eigen3/Eigen/Dense:1,
  4398. from /usr/include/eigen3/Eigen/Eigen:1,
  4399. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4400. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4401. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<9, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Matrix<double, -1, -1, 0, 3, 2>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Matrix<double, -1, -1, 0, 3, 2>, 9u>&)
  4402. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  4403. ^
  4404. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  4405. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4406. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4407. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  4408. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  4409. ^
  4410. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  4411. from /usr/include/eigen3/Eigen/Dense:1,
  4412. from /usr/include/eigen3/Eigen/Eigen:1,
  4413. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4414. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4415. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<10, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Matrix<double, 3, 3>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Matrix<double, 3, 3>, 10u>&)
  4416. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  4417. ^
  4418. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  4419. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4420. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4421. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  4422. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  4423. ^
  4424. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  4425. from /usr/include/eigen3/Eigen/Dense:1,
  4426. from /usr/include/eigen3/Eigen/Eigen:1,
  4427. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4428. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4429. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<9, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 9u>&)
  4430. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  4431. ^
  4432. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  4433. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4434. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4435. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  4436. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  4437. ^
  4438. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  4439. from /usr/include/eigen3/Eigen/Dense:1,
  4440. from /usr/include/eigen3/Eigen/Eigen:1,
  4441. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4442. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4443. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<1, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 1u>&)
  4444. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  4445. ^
  4446. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  4447. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4448. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4449. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  4450. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  4451. ^
  4452. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  4453. from /usr/include/eigen3/Eigen/Dense:1,
  4454. from /usr/include/eigen3/Eigen/Eigen:1,
  4455. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4456. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4457. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<2, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 2u>&)
  4458. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  4459. ^
  4460. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  4461. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4462. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4463. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  4464. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  4465. ^
  4466. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  4467. from /usr/include/eigen3/Eigen/Dense:1,
  4468. from /usr/include/eigen3/Eigen/Eigen:1,
  4469. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4470. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4471. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:251:33: note: template<class Other> Eigen::PermutationBase<Eigen::PermutationMatrix<2, 2, int> >::PlainPermutationType Eigen::operator*(const Eigen::Transpose<Eigen::PermutationBase<Derived> >&, const Eigen::PermutationBase<Eigen::PermutationMatrix<2, 2, int> >&)
  4472. inline PlainPermutationType operator*(const Transpose<PermutationBase<Other> >& other, const PermutationBase& perm)
  4473. ^
  4474. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:251:33: note: template argument deduction/substitution failed:
  4475. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4476. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4477. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::Transpose<Eigen::PermutationBase<Derived> >’ and ‘double’
  4478. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  4479. ^
  4480. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  4481. from /usr/include/eigen3/Eigen/Dense:6,
  4482. from /usr/include/eigen3/Eigen/Eigen:1,
  4483. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4484. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4485. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::AngleAxis<double>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::AngleAxis<double>&)
  4486. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  4487. ^
  4488. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  4489. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4490. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4491. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  4492. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  4493. ^
  4494. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  4495. from /usr/include/eigen3/Eigen/Dense:6,
  4496. from /usr/include/eigen3/Eigen/Eigen:1,
  4497. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4498. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4499. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template<class DiagonalDerived> Eigen::Transform<double, 3, 2>::TransformTimeDiagonalReturnType Eigen::operator*(const Eigen::DiagonalBase<T>&, const Eigen::Transform<double, 3, 2>&)
  4500. operator * (const DiagonalBase<DiagonalDerived> &a, const Transform &b)
  4501. ^
  4502. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template argument deduction/substitution failed:
  4503. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4504. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4505. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::DiagonalBase<T>’ and ‘double’
  4506. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  4507. ^
  4508. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  4509. from /usr/include/eigen3/Eigen/Dense:6,
  4510. from /usr/include/eigen3/Eigen/Eigen:1,
  4511. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4512. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4513. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template<class OtherDerived> const typename Eigen::internal::transform_left_product_impl<OtherDerived, 2, 0, 3, 4, OtherDerived:: RowsAtCompileTime, OtherDerived:: ColsAtCompileTime>::ResultType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Transform<double, 3, 2>&)
  4514. operator * (const EigenBase<OtherDerived> &a, const Transform &b)
  4515. ^
  4516. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template argument deduction/substitution failed:
  4517. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4518. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4519. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  4520. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  4521. ^
  4522. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  4523. from /usr/include/eigen3/Eigen/Dense:6,
  4524. from /usr/include/eigen3/Eigen/Eigen:1,
  4525. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4526. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4527. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template<class DiagonalDerived> Eigen::Transform<double, 3, 2, 1>::TransformTimeDiagonalReturnType Eigen::operator*(const Eigen::DiagonalBase<T>&, const Eigen::Transform<double, 3, 2, 1>&)
  4528. operator * (const DiagonalBase<DiagonalDerived> &a, const Transform &b)
  4529. ^
  4530. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template argument deduction/substitution failed:
  4531. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4532. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4533. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::DiagonalBase<T>’ and ‘double’
  4534. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  4535. ^
  4536. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  4537. from /usr/include/eigen3/Eigen/Dense:6,
  4538. from /usr/include/eigen3/Eigen/Eigen:1,
  4539. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4540. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4541. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template<class OtherDerived> const typename Eigen::internal::transform_left_product_impl<OtherDerived, 2, 1, 3, 4, OtherDerived:: RowsAtCompileTime, OtherDerived:: ColsAtCompileTime>::ResultType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Transform<double, 3, 2, 1>&)
  4542. operator * (const EigenBase<OtherDerived> &a, const Transform &b)
  4543. ^
  4544. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template argument deduction/substitution failed:
  4545. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4546. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4547. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  4548. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  4549. ^
  4550. In file included from /usr/include/eigen3/Eigen/Geometry:43:0,
  4551. from /usr/include/eigen3/Eigen/Dense:6,
  4552. from /usr/include/eigen3/Eigen/Eigen:1,
  4553. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4554. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4555. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template<class OtherDerived> Eigen::Translation<double, 3>::AffineTransformType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Translation<double, 3>&)
  4556. inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
  4557. ^
  4558. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template argument deduction/substitution failed:
  4559. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4560. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4561. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  4562. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  4563. ^
  4564. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  4565. from /usr/include/eigen3/Eigen/Dense:6,
  4566. from /usr/include/eigen3/Eigen/Eigen:1,
  4567. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4568. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4569. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<double>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<double>&)
  4570. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  4571. ^
  4572. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  4573. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4574. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4575. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  4576. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  4577. ^
  4578. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  4579. from /usr/include/eigen3/Eigen/Dense:6,
  4580. from /usr/include/eigen3/Eigen/Eigen:1,
  4581. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4582. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4583. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<float>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<float>&)
  4584. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  4585. ^
  4586. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  4587. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4588. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4589. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  4590. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  4591. ^
  4592. In file included from /usr/include/eigen3/Eigen/Householder:17:0,
  4593. from /usr/include/eigen3/Eigen/QR:10,
  4594. from /usr/include/eigen3/Eigen/Dense:4,
  4595. from /usr/include/eigen3/Eigen/Eigen:1,
  4596. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4597. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4598. /usr/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:409:99: note: template<class OtherDerived, class VectorsType, class CoeffsType, int Side> typename Eigen::internal::matrix_type_times_scalar_type<typename VectorsType::Scalar, OtherDerived>::Type Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::HouseholderSequence<VectorsType, CoeffsType, Side>&)
  4599. typename internal::matrix_type_times_scalar_type<typename VectorsType::Scalar,OtherDerived>::Type operator*(const MatrixBase<OtherDerived>& other, const HouseholderSequence<VectorsType,CoeffsType,Side>& h)
  4600. ^
  4601. /usr/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:409:99: note: template argument deduction/substitution failed:
  4602. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4603. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4604. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  4605. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  4606. ^
  4607. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  4608. from /usr/include/eigen3/Eigen/Dense:1,
  4609. from /usr/include/eigen3/Eigen/Eigen:1,
  4610. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4611. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4612. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:216:1: note: template<class Derived, class Lhs, class Rhs> typename Eigen::internal::enable_if<(! Eigen::internal::is_same<typename Derived::Scalar, typename Derived::RealScalar>::value), const Eigen::ScaledProduct<Derived> >::type Eigen::operator*(const typename Derived::RealScalar&, const Eigen::ProductBase<Derived, _Lhs, _Rhs>&)
  4613. operator*(const typename Derived::RealScalar& x,const ProductBase<Derived,Lhs,Rhs>& prod)
  4614. ^
  4615. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:216:1: note: template argument deduction/substitution failed:
  4616. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4617. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4618. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: ‘Eigen::Matrix<ceres::Jet<double, 48>, 3, 1, 0, 3, 1>’ is not derived from ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’
  4619. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  4620. ^
  4621. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  4622. from /usr/include/eigen3/Eigen/Dense:1,
  4623. from /usr/include/eigen3/Eigen/Eigen:1,
  4624. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4625. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4626. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:210:1: note: template<class Derived, class Lhs, class Rhs> const Eigen::ScaledProduct<Derived> Eigen::operator*(const typename Derived::Scalar&, const Eigen::ProductBase<Derived, _Lhs, _Rhs>&)
  4627. operator*(const typename Derived::Scalar& x,const ProductBase<Derived,Lhs,Rhs>& prod)
  4628. ^
  4629. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:210:1: note: template argument deduction/substitution failed:
  4630. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4631. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4632. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: ‘Eigen::Matrix<ceres::Jet<double, 48>, 3, 1, 0, 3, 1>’ is not derived from ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’
  4633. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  4634. ^
  4635. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  4636. from /usr/include/eigen3/Eigen/Dense:1,
  4637. from /usr/include/eigen3/Eigen/Eigen:1,
  4638. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4639. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4640. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:204:1: note: template<class Derived, class Lhs, class Rhs> typename Eigen::internal::enable_if<(! Eigen::internal::is_same<typename Derived::Scalar, typename Derived::RealScalar>::value), const Eigen::ScaledProduct<Derived> >::type Eigen::operator*(const Eigen::ProductBase<Derived, _Lhs, _Rhs>&, const typename Derived::RealScalar&)
  4641. operator*(const ProductBase<Derived,Lhs,Rhs>& prod, const typename Derived::RealScalar& x)
  4642. ^
  4643. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:204:1: note: template argument deduction/substitution failed:
  4644. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4645. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4646. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’ and ‘double’
  4647. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  4648. ^
  4649. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  4650. from /usr/include/eigen3/Eigen/Dense:1,
  4651. from /usr/include/eigen3/Eigen/Eigen:1,
  4652. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4653. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4654. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:198:1: note: template<class Derived, class Lhs, class Rhs> const Eigen::ScaledProduct<Derived> Eigen::operator*(const Eigen::ProductBase<Derived, _Lhs, _Rhs>&, const typename Derived::Scalar&)
  4655. operator*(const ProductBase<Derived,Lhs,Rhs>& prod, const typename Derived::Scalar& x)
  4656. ^
  4657. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:198:1: note: template argument deduction/substitution failed:
  4658. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4659. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4660. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’ and ‘double’
  4661. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  4662. ^
  4663. In file included from /usr/include/eigen3/Eigen/Core:314:0,
  4664. from /usr/include/eigen3/Eigen/Dense:1,
  4665. from /usr/include/eigen3/Eigen/Eigen:1,
  4666. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4667. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4668. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:344:1: note: template<class Derived, class TranspositionDerived> const Eigen::internal::transposition_matrix_product_retval<TranspositionDerived, Derived, 1> Eigen::operator*(const Eigen::TranspositionsBase<TranspositionsDerived>&, const Eigen::MatrixBase<Derived>&)
  4669. operator*(const TranspositionsBase<TranspositionDerived> &transpositions,
  4670. ^
  4671. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:344:1: note: template argument deduction/substitution failed:
  4672. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4673. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4674. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::TranspositionsBase<TranspositionsDerived>’ and ‘double’
  4675. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  4676. ^
  4677. In file included from /usr/include/eigen3/Eigen/Core:314:0,
  4678. from /usr/include/eigen3/Eigen/Dense:1,
  4679. from /usr/include/eigen3/Eigen/Eigen:1,
  4680. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4681. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4682. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:331:1: note: template<class Derived, class TranspositionsDerived> const Eigen::internal::transposition_matrix_product_retval<TranspositionsDerived, Derived, 2> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TranspositionsBase<TranspositionsDerived>&)
  4683. operator*(const MatrixBase<Derived>& matrix,
  4684. ^
  4685. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:331:1: note: template argument deduction/substitution failed:
  4686. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4687. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4688. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  4689. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  4690. ^
  4691. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  4692. from /usr/include/eigen3/Eigen/Dense:1,
  4693. from /usr/include/eigen3/Eigen/Eigen:1,
  4694. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4695. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4696. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:523:1: note: template<class Derived, class PermutationDerived> const Eigen::internal::permut_matrix_product_retval<PermutationDerived, Derived, 1> Eigen::operator*(const Eigen::PermutationBase<PermutationDerived>&, const Eigen::MatrixBase<Derived>&)
  4697. operator*(const PermutationBase<PermutationDerived> &permutation,
  4698. ^
  4699. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:523:1: note: template argument deduction/substitution failed:
  4700. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4701. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4702. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::PermutationBase<PermutationDerived>’ and ‘double’
  4703. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  4704. ^
  4705. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  4706. from /usr/include/eigen3/Eigen/Dense:1,
  4707. from /usr/include/eigen3/Eigen/Eigen:1,
  4708. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4709. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4710. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:510:1: note: template<class Derived, class PermutationDerived> const Eigen::internal::permut_matrix_product_retval<PermutationDerived, Derived, 2> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::PermutationBase<PermutationDerived>&)
  4711. operator*(const MatrixBase<Derived>& matrix,
  4712. ^
  4713. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:510:1: note: template argument deduction/substitution failed:
  4714. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4715. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4716. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  4717. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  4718. ^
  4719. In file included from /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:136:0,
  4720. from /usr/include/eigen3/Eigen/Core:279,
  4721. from /usr/include/eigen3/Eigen/Dense:1,
  4722. from /usr/include/eigen3/Eigen/Eigen:1,
  4723. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4724. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4725. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:80:1: note: const Eigen::CwiseUnaryOp<Eigen::internal::scalar_multiple2_op<ceres::Jet<double, 48>, std::complex<ceres::Jet<double, 48> > >, const Eigen::Matrix<ceres::Jet<double, 48>, 3, 1, 0, 3, 1> > Eigen::operator*(const std::complex<ceres::Jet<double, 48> >&, const StorageBaseType&)
  4726. operator*(const std::complex<Scalar>& scalar, const StorageBaseType& matrix)
  4727. ^
  4728. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:80:1: note: no known conversion for argument 1 from ‘double’ to ‘const std::complex<ceres::Jet<double, 48> >&’
  4729. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:76:1: note: const ScalarMultipleReturnType Eigen::operator*(const Scalar&, const StorageBaseType&)
  4730. operator*(const Scalar& scalar, const StorageBaseType& matrix)
  4731. ^
  4732. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:76:1: note: no known conversion for argument 1 from ‘double’ to ‘const Scalar& {aka const ceres::Jet<double, 48>&}’
  4733. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  4734. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  4735. from /usr/local/include/ceres/ceres.h:37,
  4736. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  4737. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  4738. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4739. /usr/local/include/ceres/jet.h:368:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(T, const ceres::Jet<T, N>&)
  4740. Jet<T, N> operator*(T s, const Jet<T, N>& f) {
  4741. ^
  4742. /usr/local/include/ceres/jet.h:368:11: note: template argument deduction/substitution failed:
  4743. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4744. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4745. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: ‘Eigen::Matrix<ceres::Jet<double, 48>, 3, 1, 0, 3, 1>’ is not derived from ‘const ceres::Jet<T, N>’
  4746. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  4747. ^
  4748. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  4749. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  4750. from /usr/local/include/ceres/ceres.h:37,
  4751. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  4752. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  4753. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4754. /usr/local/include/ceres/jet.h:362:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(const ceres::Jet<T, N>&, T)
  4755. Jet<T, N> operator*(const Jet<T, N>& f, T s) {
  4756. ^
  4757. /usr/local/include/ceres/jet.h:362:11: note: template argument deduction/substitution failed:
  4758. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4759. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4760. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const ceres::Jet<T, N>’ and ‘double’
  4761. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  4762. ^
  4763. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  4764. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  4765. from /usr/local/include/ceres/ceres.h:37,
  4766. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  4767. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  4768. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4769. /usr/local/include/ceres/jet.h:355:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(const ceres::Jet<T, N>&, const ceres::Jet<T, N>&)
  4770. Jet<T, N> operator*(const Jet<T, N>& f,
  4771. ^
  4772. /usr/local/include/ceres/jet.h:355:11: note: template argument deduction/substitution failed:
  4773. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4774. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4775. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const ceres::Jet<T, N>’ and ‘double’
  4776. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  4777. ^
  4778. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: error: no match for ‘operator*’ (operand types are ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 48>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 48>, 3, 1, 0, 3, 1>}’ and ‘double’)
  4779. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  4780. ^
  4781. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: candidates are:
  4782. In file included from /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:136:0,
  4783. from /usr/include/eigen3/Eigen/Core:279,
  4784. from /usr/include/eigen3/Eigen/Dense:1,
  4785. from /usr/include/eigen3/Eigen/Eigen:1,
  4786. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4787. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4788. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:49:1: note: const ScalarMultipleReturnType Eigen::MatrixBase<Derived>::operator*(const Scalar&) const [with Derived = Eigen::Matrix<ceres::Jet<double, 48>, 3, 1, 0, 3, 1>; Eigen::MatrixBase<Derived>::ScalarMultipleReturnType = Eigen::CwiseUnaryOp<Eigen::internal::scalar_multiple_op<ceres::Jet<double, 48> >, const Eigen::Matrix<ceres::Jet<double, 48>, 3, 1, 0, 3, 1> >; typename Eigen::internal::traits<T>::Scalar = ceres::Jet<double, 48>; Eigen::MatrixBase<Derived>::Scalar = ceres::Jet<double, 48>]
  4789. operator*(const Scalar& scalar) const
  4790. ^
  4791. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:49:1: note: no known conversion for argument 1 from ‘double’ to ‘const Scalar& {aka const ceres::Jet<double, 48>&}’
  4792. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:69:1: note: const Eigen::CwiseUnaryOp<Eigen::internal::scalar_multiple2_op<typename Eigen::internal::traits<T>::Scalar, std::complex<typename Eigen::internal::traits<T>::Scalar> >, const Derived> Eigen::MatrixBase<Derived>::operator*(const std::complex<typename Eigen::internal::traits<T>::Scalar>&) const [with Derived = Eigen::Matrix<ceres::Jet<double, 48>, 3, 1, 0, 3, 1>; typename Eigen::internal::traits<T>::Scalar = ceres::Jet<double, 48>]
  4793. operator*(const std::complex<Scalar>& scalar) const
  4794. ^
  4795. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:69:1: note: no known conversion for argument 1 from ‘double’ to ‘const std::complex<ceres::Jet<double, 48> >&’
  4796. In file included from /usr/include/eigen3/Eigen/Core:323:0,
  4797. from /usr/include/eigen3/Eigen/Dense:1,
  4798. from /usr/include/eigen3/Eigen/Eigen:1,
  4799. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4800. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4801. /usr/include/eigen3/Eigen/src/Core/GeneralProduct.h:571:1: note: template<class OtherDerived> const typename Eigen::ProductReturnType<Derived, OtherDerived>::Type Eigen::MatrixBase<Derived>::operator*(const Eigen::MatrixBase<OtherDerived>&) const [with OtherDerived = OtherDerived; Derived = Eigen::Matrix<ceres::Jet<double, 48>, 3, 1, 0, 3, 1>]
  4802. MatrixBase<Derived>::operator*(const MatrixBase<OtherDerived> &other) const
  4803. ^
  4804. /usr/include/eigen3/Eigen/src/Core/GeneralProduct.h:571:1: note: template argument deduction/substitution failed:
  4805. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4806. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4807. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  4808. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  4809. ^
  4810. In file included from /usr/include/eigen3/Eigen/Core:279:0,
  4811. from /usr/include/eigen3/Eigen/Dense:1,
  4812. from /usr/include/eigen3/Eigen/Eigen:1,
  4813. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4814. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4815. /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:194:5: note: template<class DiagonalDerived> const Eigen::DiagonalProduct<Derived, DiagonalDerived, 2> Eigen::MatrixBase<Derived>::operator*(const Eigen::DiagonalBase<DiagonalDerived>&) const [with DiagonalDerived = DiagonalDerived; Derived = Eigen::Matrix<ceres::Jet<double, 48>, 3, 1, 0, 3, 1>]
  4816. operator*(const DiagonalBase<DiagonalDerived> &diagonal) const;
  4817. ^
  4818. /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:194:5: note: template argument deduction/substitution failed:
  4819. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4820. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4821. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: mismatched types ‘const Eigen::DiagonalBase<T>’ and ‘double’
  4822. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  4823. ^
  4824. In file included from /usr/include/eigen3/Eigen/Geometry:44:0,
  4825. from /usr/include/eigen3/Eigen/Dense:6,
  4826. from /usr/include/eigen3/Eigen/Eigen:1,
  4827. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4828. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4829. /usr/include/eigen3/Eigen/src/Geometry/Scaling.h:111:1: note: Eigen::MatrixBase<Derived>::ScalarMultipleReturnType Eigen::MatrixBase<Derived>::operator*(const Eigen::UniformScaling<typename Eigen::internal::traits<T>::Scalar>&) const [with Derived = Eigen::Matrix<ceres::Jet<double, 48>, 3, 1, 0, 3, 1>; Eigen::MatrixBase<Derived>::ScalarMultipleReturnType = Eigen::CwiseUnaryOp<Eigen::internal::scalar_multiple_op<ceres::Jet<double, 48> >, const Eigen::Matrix<ceres::Jet<double, 48>, 3, 1, 0, 3, 1> >; typename Eigen::internal::traits<T>::Scalar = ceres::Jet<double, 48>]
  4830. MatrixBase<Derived>::operator*(const UniformScaling<Scalar>& s) const
  4831. ^
  4832. /usr/include/eigen3/Eigen/src/Geometry/Scaling.h:111:1: note: no known conversion for argument 1 from ‘double’ to ‘const Eigen::UniformScaling<ceres::Jet<double, 48> >&’
  4833. In file included from /usr/include/eigen3/Eigen/Geometry:43:0,
  4834. from /usr/include/eigen3/Eigen/Dense:6,
  4835. from /usr/include/eigen3/Eigen/Eigen:1,
  4836. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4837. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4838. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template<class OtherDerived> Eigen::Translation<ceres::Jet<double, 48>, 3>::AffineTransformType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Translation<ceres::Jet<double, 48>, 3>&)
  4839. inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
  4840. ^
  4841. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template argument deduction/substitution failed:
  4842. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4843. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4844. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<16, 12>*)this)->ridi::LocalSpeedFunctor<16, 12>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<16, 12>*)this)->ridi::LocalSpeedFunctor<16, 12>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Translation<ceres::Jet<double, 48>, 3>&’
  4845. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  4846. ^
  4847. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  4848. from /usr/include/eigen3/Eigen/Dense:6,
  4849. from /usr/include/eigen3/Eigen/Eigen:1,
  4850. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4851. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4852. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<ceres::Jet<double, 48>, 0>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<ceres::Jet<double, 48>, 0>&)
  4853. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  4854. ^
  4855. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  4856. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4857. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4858. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<16, 12>*)this)->ridi::LocalSpeedFunctor<16, 12>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<16, 12>*)this)->ridi::LocalSpeedFunctor<16, 12>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Quaternion<ceres::Jet<double, 48>, 0>&’
  4859. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  4860. ^
  4861. In file included from /usr/include/eigen3/Eigen/Geometry:43:0,
  4862. from /usr/include/eigen3/Eigen/Dense:6,
  4863. from /usr/include/eigen3/Eigen/Eigen:1,
  4864. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4865. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4866. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template<class OtherDerived> Eigen::Translation<ceres::Jet<double, 60>, 3>::AffineTransformType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Translation<ceres::Jet<double, 60>, 3>&)
  4867. inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
  4868. ^
  4869. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template argument deduction/substitution failed:
  4870. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4871. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4872. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<16, 12>*)this)->ridi::LocalSpeedFunctor<16, 12>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<16, 12>*)this)->ridi::LocalSpeedFunctor<16, 12>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Translation<ceres::Jet<double, 60>, 3>&’
  4873. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  4874. ^
  4875. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  4876. from /usr/include/eigen3/Eigen/Dense:6,
  4877. from /usr/include/eigen3/Eigen/Eigen:1,
  4878. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4879. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4880. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<ceres::Jet<double, 60>, 0>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<ceres::Jet<double, 60>, 0>&)
  4881. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  4882. ^
  4883. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  4884. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4885. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4886. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<16, 12>*)this)->ridi::LocalSpeedFunctor<16, 12>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<16, 12>*)this)->ridi::LocalSpeedFunctor<16, 12>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Quaternion<ceres::Jet<double, 60>, 0>&’
  4887. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  4888. ^
  4889. In file included from /usr/include/eigen3/Eigen/Geometry:43:0,
  4890. from /usr/include/eigen3/Eigen/Dense:6,
  4891. from /usr/include/eigen3/Eigen/Eigen:1,
  4892. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4893. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4894. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template<class OtherDerived> Eigen::Translation<ceres::Jet<double, 300>, 3>::AffineTransformType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Translation<ceres::Jet<double, 300>, 3>&)
  4895. inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
  4896. ^
  4897. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template argument deduction/substitution failed:
  4898. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4899. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4900. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<16, 12>*)this)->ridi::LocalSpeedFunctor<16, 12>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<16, 12>*)this)->ridi::LocalSpeedFunctor<16, 12>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Translation<ceres::Jet<double, 300>, 3>&’
  4901. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  4902. ^
  4903. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  4904. from /usr/include/eigen3/Eigen/Dense:6,
  4905. from /usr/include/eigen3/Eigen/Eigen:1,
  4906. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4907. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4908. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<ceres::Jet<double, 300>, 0>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<ceres::Jet<double, 300>, 0>&)
  4909. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  4910. ^
  4911. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  4912. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4913. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4914. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<16, 12>*)this)->ridi::LocalSpeedFunctor<16, 12>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<16, 12>*)this)->ridi::LocalSpeedFunctor<16, 12>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Quaternion<ceres::Jet<double, 300>, 0>&’
  4915. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  4916. ^
  4917. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  4918. from /usr/include/eigen3/Eigen/Dense:1,
  4919. from /usr/include/eigen3/Eigen/Eigen:1,
  4920. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4921. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4922. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<9, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Matrix<double, -1, -1, 0, 3, 2>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Matrix<double, -1, -1, 0, 3, 2>, 9u>&)
  4923. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  4924. ^
  4925. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  4926. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4927. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4928. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<16, 12>*)this)->ridi::LocalSpeedFunctor<16, 12>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<16, 12>*)this)->ridi::LocalSpeedFunctor<16, 12>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::TriangularView<Eigen::Matrix<double, -1, -1, 0, 3, 2>, 9u>&’
  4929. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  4930. ^
  4931. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  4932. from /usr/include/eigen3/Eigen/Dense:1,
  4933. from /usr/include/eigen3/Eigen/Eigen:1,
  4934. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4935. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4936. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<10, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Matrix<double, 3, 3>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Matrix<double, 3, 3>, 10u>&)
  4937. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  4938. ^
  4939. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  4940. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4941. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4942. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<16, 12>*)this)->ridi::LocalSpeedFunctor<16, 12>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<16, 12>*)this)->ridi::LocalSpeedFunctor<16, 12>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::TriangularView<Eigen::Matrix<double, 3, 3>, 10u>&’
  4943. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  4944. ^
  4945. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  4946. from /usr/include/eigen3/Eigen/Dense:1,
  4947. from /usr/include/eigen3/Eigen/Eigen:1,
  4948. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4949. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4950. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<9, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 9u>&)
  4951. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  4952. ^
  4953. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  4954. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4955. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4956. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<16, 12>*)this)->ridi::LocalSpeedFunctor<16, 12>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<16, 12>*)this)->ridi::LocalSpeedFunctor<16, 12>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::TriangularView<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 9u>&’
  4957. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  4958. ^
  4959. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  4960. from /usr/include/eigen3/Eigen/Dense:1,
  4961. from /usr/include/eigen3/Eigen/Eigen:1,
  4962. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4963. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4964. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<1, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 1u>&)
  4965. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  4966. ^
  4967. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  4968. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4969. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4970. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<16, 12>*)this)->ridi::LocalSpeedFunctor<16, 12>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<16, 12>*)this)->ridi::LocalSpeedFunctor<16, 12>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 1u>&’
  4971. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  4972. ^
  4973. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  4974. from /usr/include/eigen3/Eigen/Dense:1,
  4975. from /usr/include/eigen3/Eigen/Eigen:1,
  4976. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4977. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4978. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<2, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 2u>&)
  4979. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  4980. ^
  4981. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  4982. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4983. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4984. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<16, 12>*)this)->ridi::LocalSpeedFunctor<16, 12>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<16, 12>*)this)->ridi::LocalSpeedFunctor<16, 12>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::TriangularView<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 2u>&’
  4985. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  4986. ^
  4987. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  4988. from /usr/include/eigen3/Eigen/Dense:1,
  4989. from /usr/include/eigen3/Eigen/Eigen:1,
  4990. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  4991. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4992. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:251:33: note: template<class Other> Eigen::PermutationBase<Eigen::PermutationMatrix<2, 2, int> >::PlainPermutationType Eigen::operator*(const Eigen::Transpose<Eigen::PermutationBase<Derived> >&, const Eigen::PermutationBase<Eigen::PermutationMatrix<2, 2, int> >&)
  4993. inline PlainPermutationType operator*(const Transpose<PermutationBase<Other> >& other, const PermutationBase& perm)
  4994. ^
  4995. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:251:33: note: template argument deduction/substitution failed:
  4996. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  4997. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  4998. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 48>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 48>, 3, 1, 0, 3, 1>}’ is not derived from ‘const Eigen::Transpose<Eigen::PermutationBase<Derived> >’
  4999. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  5000. ^
  5001. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  5002. from /usr/include/eigen3/Eigen/Dense:6,
  5003. from /usr/include/eigen3/Eigen/Eigen:1,
  5004. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5005. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5006. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::AngleAxis<double>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::AngleAxis<double>&)
  5007. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  5008. ^
  5009. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  5010. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5011. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5012. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<16, 12>*)this)->ridi::LocalSpeedFunctor<16, 12>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<16, 12>*)this)->ridi::LocalSpeedFunctor<16, 12>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::AngleAxis<double>&’
  5013. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  5014. ^
  5015. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  5016. from /usr/include/eigen3/Eigen/Dense:6,
  5017. from /usr/include/eigen3/Eigen/Eigen:1,
  5018. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5019. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5020. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template<class DiagonalDerived> Eigen::Transform<double, 3, 2>::TransformTimeDiagonalReturnType Eigen::operator*(const Eigen::DiagonalBase<T>&, const Eigen::Transform<double, 3, 2>&)
  5021. operator * (const DiagonalBase<DiagonalDerived> &a, const Transform &b)
  5022. ^
  5023. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template argument deduction/substitution failed:
  5024. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5025. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5026. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 48>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 48>, 3, 1, 0, 3, 1>}’ is not derived from ‘const Eigen::DiagonalBase<T>’
  5027. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  5028. ^
  5029. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  5030. from /usr/include/eigen3/Eigen/Dense:6,
  5031. from /usr/include/eigen3/Eigen/Eigen:1,
  5032. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5033. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5034. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template<class OtherDerived> const typename Eigen::internal::transform_left_product_impl<OtherDerived, 2, 0, 3, 4, OtherDerived:: RowsAtCompileTime, OtherDerived:: ColsAtCompileTime>::ResultType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Transform<double, 3, 2>&)
  5035. operator * (const EigenBase<OtherDerived> &a, const Transform &b)
  5036. ^
  5037. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template argument deduction/substitution failed:
  5038. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5039. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5040. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<16, 12>*)this)->ridi::LocalSpeedFunctor<16, 12>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<16, 12>*)this)->ridi::LocalSpeedFunctor<16, 12>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Transform<double, 3, 2>&’
  5041. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  5042. ^
  5043. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  5044. from /usr/include/eigen3/Eigen/Dense:6,
  5045. from /usr/include/eigen3/Eigen/Eigen:1,
  5046. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5047. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5048. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template<class DiagonalDerived> Eigen::Transform<double, 3, 2, 1>::TransformTimeDiagonalReturnType Eigen::operator*(const Eigen::DiagonalBase<T>&, const Eigen::Transform<double, 3, 2, 1>&)
  5049. operator * (const DiagonalBase<DiagonalDerived> &a, const Transform &b)
  5050. ^
  5051. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template argument deduction/substitution failed:
  5052. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5053. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5054. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 48>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 48>, 3, 1, 0, 3, 1>}’ is not derived from ‘const Eigen::DiagonalBase<T>’
  5055. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  5056. ^
  5057. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  5058. from /usr/include/eigen3/Eigen/Dense:6,
  5059. from /usr/include/eigen3/Eigen/Eigen:1,
  5060. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5061. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5062. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template<class OtherDerived> const typename Eigen::internal::transform_left_product_impl<OtherDerived, 2, 1, 3, 4, OtherDerived:: RowsAtCompileTime, OtherDerived:: ColsAtCompileTime>::ResultType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Transform<double, 3, 2, 1>&)
  5063. operator * (const EigenBase<OtherDerived> &a, const Transform &b)
  5064. ^
  5065. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template argument deduction/substitution failed:
  5066. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5067. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5068. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<16, 12>*)this)->ridi::LocalSpeedFunctor<16, 12>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<16, 12>*)this)->ridi::LocalSpeedFunctor<16, 12>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Transform<double, 3, 2, 1>&’
  5069. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  5070. ^
  5071. In file included from /usr/include/eigen3/Eigen/Geometry:43:0,
  5072. from /usr/include/eigen3/Eigen/Dense:6,
  5073. from /usr/include/eigen3/Eigen/Eigen:1,
  5074. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5075. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5076. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template<class OtherDerived> Eigen::Translation<double, 3>::AffineTransformType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Translation<double, 3>&)
  5077. inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
  5078. ^
  5079. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template argument deduction/substitution failed:
  5080. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5081. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5082. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<16, 12>*)this)->ridi::LocalSpeedFunctor<16, 12>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<16, 12>*)this)->ridi::LocalSpeedFunctor<16, 12>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Translation<double, 3>&’
  5083. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  5084. ^
  5085. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  5086. from /usr/include/eigen3/Eigen/Dense:6,
  5087. from /usr/include/eigen3/Eigen/Eigen:1,
  5088. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5089. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5090. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<double>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<double>&)
  5091. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  5092. ^
  5093. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  5094. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5095. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5096. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<16, 12>*)this)->ridi::LocalSpeedFunctor<16, 12>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<16, 12>*)this)->ridi::LocalSpeedFunctor<16, 12>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Quaternion<double>&’
  5097. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  5098. ^
  5099. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  5100. from /usr/include/eigen3/Eigen/Dense:6,
  5101. from /usr/include/eigen3/Eigen/Eigen:1,
  5102. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5103. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5104. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<float>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<float>&)
  5105. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  5106. ^
  5107. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  5108. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5109. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5110. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<16, 12>*)this)->ridi::LocalSpeedFunctor<16, 12>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<16, 12>*)this)->ridi::LocalSpeedFunctor<16, 12>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Quaternion<float>&’
  5111. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  5112. ^
  5113. In file included from /usr/include/eigen3/Eigen/Householder:17:0,
  5114. from /usr/include/eigen3/Eigen/QR:10,
  5115. from /usr/include/eigen3/Eigen/Dense:4,
  5116. from /usr/include/eigen3/Eigen/Eigen:1,
  5117. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5118. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5119. /usr/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:409:99: note: template<class OtherDerived, class VectorsType, class CoeffsType, int Side> typename Eigen::internal::matrix_type_times_scalar_type<typename VectorsType::Scalar, OtherDerived>::Type Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::HouseholderSequence<VectorsType, CoeffsType, Side>&)
  5120. typename internal::matrix_type_times_scalar_type<typename VectorsType::Scalar,OtherDerived>::Type operator*(const MatrixBase<OtherDerived>& other, const HouseholderSequence<VectorsType,CoeffsType,Side>& h)
  5121. ^
  5122. /usr/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:409:99: note: template argument deduction/substitution failed:
  5123. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5124. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5125. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: mismatched types ‘const Eigen::HouseholderSequence<VectorsType, CoeffsType, Side>’ and ‘double’
  5126. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  5127. ^
  5128. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  5129. from /usr/include/eigen3/Eigen/Dense:1,
  5130. from /usr/include/eigen3/Eigen/Eigen:1,
  5131. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5132. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5133. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:216:1: note: template<class Derived, class Lhs, class Rhs> typename Eigen::internal::enable_if<(! Eigen::internal::is_same<typename Derived::Scalar, typename Derived::RealScalar>::value), const Eigen::ScaledProduct<Derived> >::type Eigen::operator*(const typename Derived::RealScalar&, const Eigen::ProductBase<Derived, _Lhs, _Rhs>&)
  5134. operator*(const typename Derived::RealScalar& x,const ProductBase<Derived,Lhs,Rhs>& prod)
  5135. ^
  5136. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:216:1: note: template argument deduction/substitution failed:
  5137. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5138. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5139. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: mismatched types ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’ and ‘double’
  5140. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  5141. ^
  5142. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  5143. from /usr/include/eigen3/Eigen/Dense:1,
  5144. from /usr/include/eigen3/Eigen/Eigen:1,
  5145. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5146. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5147. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:210:1: note: template<class Derived, class Lhs, class Rhs> const Eigen::ScaledProduct<Derived> Eigen::operator*(const typename Derived::Scalar&, const Eigen::ProductBase<Derived, _Lhs, _Rhs>&)
  5148. operator*(const typename Derived::Scalar& x,const ProductBase<Derived,Lhs,Rhs>& prod)
  5149. ^
  5150. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:210:1: note: template argument deduction/substitution failed:
  5151. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5152. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5153. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: mismatched types ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’ and ‘double’
  5154. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  5155. ^
  5156. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  5157. from /usr/include/eigen3/Eigen/Dense:1,
  5158. from /usr/include/eigen3/Eigen/Eigen:1,
  5159. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5160. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5161. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:204:1: note: template<class Derived, class Lhs, class Rhs> typename Eigen::internal::enable_if<(! Eigen::internal::is_same<typename Derived::Scalar, typename Derived::RealScalar>::value), const Eigen::ScaledProduct<Derived> >::type Eigen::operator*(const Eigen::ProductBase<Derived, _Lhs, _Rhs>&, const typename Derived::RealScalar&)
  5162. operator*(const ProductBase<Derived,Lhs,Rhs>& prod, const typename Derived::RealScalar& x)
  5163. ^
  5164. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:204:1: note: template argument deduction/substitution failed:
  5165. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5166. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5167. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 48>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 48>, 3, 1, 0, 3, 1>}’ is not derived from ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’
  5168. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  5169. ^
  5170. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  5171. from /usr/include/eigen3/Eigen/Dense:1,
  5172. from /usr/include/eigen3/Eigen/Eigen:1,
  5173. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5174. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5175. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:198:1: note: template<class Derived, class Lhs, class Rhs> const Eigen::ScaledProduct<Derived> Eigen::operator*(const Eigen::ProductBase<Derived, _Lhs, _Rhs>&, const typename Derived::Scalar&)
  5176. operator*(const ProductBase<Derived,Lhs,Rhs>& prod, const typename Derived::Scalar& x)
  5177. ^
  5178. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:198:1: note: template argument deduction/substitution failed:
  5179. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5180. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5181. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 48>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 48>, 3, 1, 0, 3, 1>}’ is not derived from ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’
  5182. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  5183. ^
  5184. In file included from /usr/include/eigen3/Eigen/Core:314:0,
  5185. from /usr/include/eigen3/Eigen/Dense:1,
  5186. from /usr/include/eigen3/Eigen/Eigen:1,
  5187. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5188. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5189. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:344:1: note: template<class Derived, class TranspositionDerived> const Eigen::internal::transposition_matrix_product_retval<TranspositionDerived, Derived, 1> Eigen::operator*(const Eigen::TranspositionsBase<TranspositionsDerived>&, const Eigen::MatrixBase<Derived>&)
  5190. operator*(const TranspositionsBase<TranspositionDerived> &transpositions,
  5191. ^
  5192. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:344:1: note: template argument deduction/substitution failed:
  5193. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5194. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5195. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 48>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 48>, 3, 1, 0, 3, 1>}’ is not derived from ‘const Eigen::TranspositionsBase<TranspositionsDerived>’
  5196. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  5197. ^
  5198. In file included from /usr/include/eigen3/Eigen/Core:314:0,
  5199. from /usr/include/eigen3/Eigen/Dense:1,
  5200. from /usr/include/eigen3/Eigen/Eigen:1,
  5201. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5202. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5203. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:331:1: note: template<class Derived, class TranspositionsDerived> const Eigen::internal::transposition_matrix_product_retval<TranspositionsDerived, Derived, 2> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TranspositionsBase<TranspositionsDerived>&)
  5204. operator*(const MatrixBase<Derived>& matrix,
  5205. ^
  5206. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:331:1: note: template argument deduction/substitution failed:
  5207. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5208. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5209. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: mismatched types ‘const Eigen::TranspositionsBase<TranspositionsDerived>’ and ‘double’
  5210. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  5211. ^
  5212. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  5213. from /usr/include/eigen3/Eigen/Dense:1,
  5214. from /usr/include/eigen3/Eigen/Eigen:1,
  5215. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5216. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5217. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:523:1: note: template<class Derived, class PermutationDerived> const Eigen::internal::permut_matrix_product_retval<PermutationDerived, Derived, 1> Eigen::operator*(const Eigen::PermutationBase<PermutationDerived>&, const Eigen::MatrixBase<Derived>&)
  5218. operator*(const PermutationBase<PermutationDerived> &permutation,
  5219. ^
  5220. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:523:1: note: template argument deduction/substitution failed:
  5221. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5222. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5223. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 48>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 48>, 3, 1, 0, 3, 1>}’ is not derived from ‘const Eigen::PermutationBase<PermutationDerived>’
  5224. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  5225. ^
  5226. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  5227. from /usr/include/eigen3/Eigen/Dense:1,
  5228. from /usr/include/eigen3/Eigen/Eigen:1,
  5229. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5230. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5231. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:510:1: note: template<class Derived, class PermutationDerived> const Eigen::internal::permut_matrix_product_retval<PermutationDerived, Derived, 2> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::PermutationBase<PermutationDerived>&)
  5232. operator*(const MatrixBase<Derived>& matrix,
  5233. ^
  5234. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:510:1: note: template argument deduction/substitution failed:
  5235. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5236. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5237. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: mismatched types ‘const Eigen::PermutationBase<PermutationDerived>’ and ‘double’
  5238. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  5239. ^
  5240. In file included from /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:136:0,
  5241. from /usr/include/eigen3/Eigen/Core:279,
  5242. from /usr/include/eigen3/Eigen/Dense:1,
  5243. from /usr/include/eigen3/Eigen/Eigen:1,
  5244. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5245. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5246. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:80:1: note: const Eigen::CwiseUnaryOp<Eigen::internal::scalar_multiple2_op<ceres::Jet<double, 48>, std::complex<ceres::Jet<double, 48> > >, const Eigen::Matrix<ceres::Jet<double, 48>, 3, 1, 0, 3, 1> > Eigen::operator*(const std::complex<ceres::Jet<double, 48> >&, const StorageBaseType&)
  5247. operator*(const std::complex<Scalar>& scalar, const StorageBaseType& matrix)
  5248. ^
  5249. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:80:1: note: no known conversion for argument 1 from ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 48>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 48>, 3, 1, 0, 3, 1>}’ to ‘const std::complex<ceres::Jet<double, 48> >&’
  5250. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:76:1: note: const ScalarMultipleReturnType Eigen::operator*(const Scalar&, const StorageBaseType&)
  5251. operator*(const Scalar& scalar, const StorageBaseType& matrix)
  5252. ^
  5253. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:76:1: note: no known conversion for argument 1 from ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 48>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 48>, 3, 1, 0, 3, 1>}’ to ‘const Scalar& {aka const ceres::Jet<double, 48>&}’
  5254. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  5255. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  5256. from /usr/local/include/ceres/ceres.h:37,
  5257. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  5258. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  5259. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5260. /usr/local/include/ceres/jet.h:368:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(T, const ceres::Jet<T, N>&)
  5261. Jet<T, N> operator*(T s, const Jet<T, N>& f) {
  5262. ^
  5263. /usr/local/include/ceres/jet.h:368:11: note: template argument deduction/substitution failed:
  5264. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5265. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5266. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: mismatched types ‘const ceres::Jet<T, N>’ and ‘double’
  5267. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  5268. ^
  5269. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  5270. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  5271. from /usr/local/include/ceres/ceres.h:37,
  5272. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  5273. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  5274. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5275. /usr/local/include/ceres/jet.h:362:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(const ceres::Jet<T, N>&, T)
  5276. Jet<T, N> operator*(const Jet<T, N>& f, T s) {
  5277. ^
  5278. /usr/local/include/ceres/jet.h:362:11: note: template argument deduction/substitution failed:
  5279. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5280. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5281. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 48>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 48>, 3, 1, 0, 3, 1>}’ is not derived from ‘const ceres::Jet<T, N>’
  5282. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  5283. ^
  5284. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  5285. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  5286. from /usr/local/include/ceres/ceres.h:37,
  5287. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  5288. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  5289. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5290. /usr/local/include/ceres/jet.h:355:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(const ceres::Jet<T, N>&, const ceres::Jet<T, N>&)
  5291. Jet<T, N> operator*(const Jet<T, N>& f,
  5292. ^
  5293. /usr/local/include/ceres/jet.h:355:11: note: template argument deduction/substitution failed:
  5294. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5295. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5296. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 48>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 48>, 3, 1, 0, 3, 1>}’ is not derived from ‘const ceres::Jet<T, N>’
  5297. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  5298. ^
  5299. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h: In instantiation of ‘bool ridi::LocalSpeedFunctor<KVARIABLE, KCONSTRAINT>::operator()(const T*, const T*, const T*, T*) const [with T = ceres::Jet<double, 36>; int KVARIABLE = 12; int KCONSTRAINT = 8]’:
  5300. /usr/local/include/ceres/internal/variadic_evaluate.h:159:26: required from ‘static bool ceres::internal::VariadicEvaluate<Functor, T, N0, N1, N2, 0, 0, 0, 0, 0, 0, 0>::Call(const Functor&, const T* const*, T*) [with Functor = ridi::LocalSpeedFunctor<12, 8>; T = ceres::Jet<double, 36>; int N0 = 12; int N1 = 12; int N2 = 12]’
  5301. /usr/local/include/ceres/internal/autodiff.h:290:45: required from ‘static bool ceres::internal::AutoDiff<Functor, T, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>::Differentiate(const Functor&, const T* const*, int, T*, T**) [with Functor = ridi::LocalSpeedFunctor<12, 8>; T = double; int N0 = 12; int N1 = 12; int N2 = 12; int N3 = 0; int N4 = 0; int N5 = 0; int N6 = 0; int N7 = 0; int N8 = 0; int N9 = 0]’
  5302. /usr/local/include/ceres/autodiff_cost_function.h:218:25: required from ‘bool ceres::AutoDiffCostFunction<CostFunctor, kNumResiduals, N0, N1, N2, N3, N4, N5, N6, N7, N8, N9>::Evaluate(const double* const*, double*, double**) const [with CostFunctor = ridi::LocalSpeedFunctor<12, 8>; int kNumResiduals = 24; int N0 = 12; int N1 = 12; int N2 = 12; int N3 = 0; int N4 = 0; int N5 = 0; int N6 = 0; int N7 = 0; int N8 = 0; int N9 = 0]’
  5303. /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:267:1: required from here
  5304. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: error: no match for ‘operator*’ (operand types are ‘double’ and ‘Eigen::Matrix<ceres::Jet<double, 36>, 3, 1, 0, 3, 1>’)
  5305. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  5306. ^
  5307. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: candidates are:
  5308. In file included from /usr/include/eigen3/Eigen/Geometry:43:0,
  5309. from /usr/include/eigen3/Eigen/Dense:6,
  5310. from /usr/include/eigen3/Eigen/Eigen:1,
  5311. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5312. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5313. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template<class OtherDerived> Eigen::Translation<ceres::Jet<double, 48>, 3>::AffineTransformType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Translation<ceres::Jet<double, 48>, 3>&)
  5314. inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
  5315. ^
  5316. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template argument deduction/substitution failed:
  5317. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5318. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5319. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  5320. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  5321. ^
  5322. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  5323. from /usr/include/eigen3/Eigen/Dense:6,
  5324. from /usr/include/eigen3/Eigen/Eigen:1,
  5325. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5326. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5327. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<ceres::Jet<double, 48>, 0>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<ceres::Jet<double, 48>, 0>&)
  5328. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  5329. ^
  5330. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  5331. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5332. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5333. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  5334. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  5335. ^
  5336. In file included from /usr/include/eigen3/Eigen/Geometry:43:0,
  5337. from /usr/include/eigen3/Eigen/Dense:6,
  5338. from /usr/include/eigen3/Eigen/Eigen:1,
  5339. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5340. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5341. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template<class OtherDerived> Eigen::Translation<ceres::Jet<double, 60>, 3>::AffineTransformType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Translation<ceres::Jet<double, 60>, 3>&)
  5342. inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
  5343. ^
  5344. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template argument deduction/substitution failed:
  5345. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5346. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5347. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  5348. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  5349. ^
  5350. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  5351. from /usr/include/eigen3/Eigen/Dense:6,
  5352. from /usr/include/eigen3/Eigen/Eigen:1,
  5353. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5354. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5355. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<ceres::Jet<double, 60>, 0>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<ceres::Jet<double, 60>, 0>&)
  5356. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  5357. ^
  5358. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  5359. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5360. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5361. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  5362. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  5363. ^
  5364. In file included from /usr/include/eigen3/Eigen/Geometry:43:0,
  5365. from /usr/include/eigen3/Eigen/Dense:6,
  5366. from /usr/include/eigen3/Eigen/Eigen:1,
  5367. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5368. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5369. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template<class OtherDerived> Eigen::Translation<ceres::Jet<double, 300>, 3>::AffineTransformType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Translation<ceres::Jet<double, 300>, 3>&)
  5370. inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
  5371. ^
  5372. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template argument deduction/substitution failed:
  5373. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5374. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5375. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  5376. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  5377. ^
  5378. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  5379. from /usr/include/eigen3/Eigen/Dense:6,
  5380. from /usr/include/eigen3/Eigen/Eigen:1,
  5381. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5382. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5383. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<ceres::Jet<double, 300>, 0>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<ceres::Jet<double, 300>, 0>&)
  5384. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  5385. ^
  5386. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  5387. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5388. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5389. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  5390. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  5391. ^
  5392. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  5393. from /usr/include/eigen3/Eigen/Dense:1,
  5394. from /usr/include/eigen3/Eigen/Eigen:1,
  5395. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5396. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5397. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<9, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Matrix<double, -1, -1, 0, 3, 2>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Matrix<double, -1, -1, 0, 3, 2>, 9u>&)
  5398. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  5399. ^
  5400. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  5401. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5402. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5403. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  5404. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  5405. ^
  5406. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  5407. from /usr/include/eigen3/Eigen/Dense:1,
  5408. from /usr/include/eigen3/Eigen/Eigen:1,
  5409. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5410. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5411. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<10, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Matrix<double, 3, 3>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Matrix<double, 3, 3>, 10u>&)
  5412. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  5413. ^
  5414. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  5415. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5416. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5417. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  5418. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  5419. ^
  5420. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  5421. from /usr/include/eigen3/Eigen/Dense:1,
  5422. from /usr/include/eigen3/Eigen/Eigen:1,
  5423. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5424. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5425. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<9, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 9u>&)
  5426. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  5427. ^
  5428. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  5429. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5430. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5431. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  5432. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  5433. ^
  5434. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  5435. from /usr/include/eigen3/Eigen/Dense:1,
  5436. from /usr/include/eigen3/Eigen/Eigen:1,
  5437. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5438. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5439. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<1, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 1u>&)
  5440. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  5441. ^
  5442. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  5443. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5444. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5445. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  5446. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  5447. ^
  5448. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  5449. from /usr/include/eigen3/Eigen/Dense:1,
  5450. from /usr/include/eigen3/Eigen/Eigen:1,
  5451. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5452. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5453. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<2, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 2u>&)
  5454. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  5455. ^
  5456. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  5457. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5458. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5459. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  5460. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  5461. ^
  5462. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  5463. from /usr/include/eigen3/Eigen/Dense:1,
  5464. from /usr/include/eigen3/Eigen/Eigen:1,
  5465. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5466. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5467. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:251:33: note: template<class Other> Eigen::PermutationBase<Eigen::PermutationMatrix<2, 2, int> >::PlainPermutationType Eigen::operator*(const Eigen::Transpose<Eigen::PermutationBase<Derived> >&, const Eigen::PermutationBase<Eigen::PermutationMatrix<2, 2, int> >&)
  5468. inline PlainPermutationType operator*(const Transpose<PermutationBase<Other> >& other, const PermutationBase& perm)
  5469. ^
  5470. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:251:33: note: template argument deduction/substitution failed:
  5471. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5472. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5473. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::Transpose<Eigen::PermutationBase<Derived> >’ and ‘double’
  5474. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  5475. ^
  5476. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  5477. from /usr/include/eigen3/Eigen/Dense:6,
  5478. from /usr/include/eigen3/Eigen/Eigen:1,
  5479. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5480. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5481. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::AngleAxis<double>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::AngleAxis<double>&)
  5482. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  5483. ^
  5484. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  5485. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5486. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5487. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  5488. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  5489. ^
  5490. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  5491. from /usr/include/eigen3/Eigen/Dense:6,
  5492. from /usr/include/eigen3/Eigen/Eigen:1,
  5493. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5494. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5495. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template<class DiagonalDerived> Eigen::Transform<double, 3, 2>::TransformTimeDiagonalReturnType Eigen::operator*(const Eigen::DiagonalBase<T>&, const Eigen::Transform<double, 3, 2>&)
  5496. operator * (const DiagonalBase<DiagonalDerived> &a, const Transform &b)
  5497. ^
  5498. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template argument deduction/substitution failed:
  5499. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5500. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5501. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::DiagonalBase<T>’ and ‘double’
  5502. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  5503. ^
  5504. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  5505. from /usr/include/eigen3/Eigen/Dense:6,
  5506. from /usr/include/eigen3/Eigen/Eigen:1,
  5507. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5508. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5509. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template<class OtherDerived> const typename Eigen::internal::transform_left_product_impl<OtherDerived, 2, 0, 3, 4, OtherDerived:: RowsAtCompileTime, OtherDerived:: ColsAtCompileTime>::ResultType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Transform<double, 3, 2>&)
  5510. operator * (const EigenBase<OtherDerived> &a, const Transform &b)
  5511. ^
  5512. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template argument deduction/substitution failed:
  5513. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5514. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5515. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  5516. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  5517. ^
  5518. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  5519. from /usr/include/eigen3/Eigen/Dense:6,
  5520. from /usr/include/eigen3/Eigen/Eigen:1,
  5521. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5522. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5523. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template<class DiagonalDerived> Eigen::Transform<double, 3, 2, 1>::TransformTimeDiagonalReturnType Eigen::operator*(const Eigen::DiagonalBase<T>&, const Eigen::Transform<double, 3, 2, 1>&)
  5524. operator * (const DiagonalBase<DiagonalDerived> &a, const Transform &b)
  5525. ^
  5526. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template argument deduction/substitution failed:
  5527. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5528. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5529. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::DiagonalBase<T>’ and ‘double’
  5530. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  5531. ^
  5532. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  5533. from /usr/include/eigen3/Eigen/Dense:6,
  5534. from /usr/include/eigen3/Eigen/Eigen:1,
  5535. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5536. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5537. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template<class OtherDerived> const typename Eigen::internal::transform_left_product_impl<OtherDerived, 2, 1, 3, 4, OtherDerived:: RowsAtCompileTime, OtherDerived:: ColsAtCompileTime>::ResultType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Transform<double, 3, 2, 1>&)
  5538. operator * (const EigenBase<OtherDerived> &a, const Transform &b)
  5539. ^
  5540. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template argument deduction/substitution failed:
  5541. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5542. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5543. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  5544. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  5545. ^
  5546. In file included from /usr/include/eigen3/Eigen/Geometry:43:0,
  5547. from /usr/include/eigen3/Eigen/Dense:6,
  5548. from /usr/include/eigen3/Eigen/Eigen:1,
  5549. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5550. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5551. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template<class OtherDerived> Eigen::Translation<double, 3>::AffineTransformType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Translation<double, 3>&)
  5552. inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
  5553. ^
  5554. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template argument deduction/substitution failed:
  5555. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5556. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5557. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  5558. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  5559. ^
  5560. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  5561. from /usr/include/eigen3/Eigen/Dense:6,
  5562. from /usr/include/eigen3/Eigen/Eigen:1,
  5563. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5564. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5565. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<double>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<double>&)
  5566. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  5567. ^
  5568. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  5569. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5570. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5571. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  5572. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  5573. ^
  5574. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  5575. from /usr/include/eigen3/Eigen/Dense:6,
  5576. from /usr/include/eigen3/Eigen/Eigen:1,
  5577. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5578. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5579. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<float>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<float>&)
  5580. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  5581. ^
  5582. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  5583. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5584. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5585. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  5586. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  5587. ^
  5588. In file included from /usr/include/eigen3/Eigen/Householder:17:0,
  5589. from /usr/include/eigen3/Eigen/QR:10,
  5590. from /usr/include/eigen3/Eigen/Dense:4,
  5591. from /usr/include/eigen3/Eigen/Eigen:1,
  5592. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5593. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5594. /usr/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:409:99: note: template<class OtherDerived, class VectorsType, class CoeffsType, int Side> typename Eigen::internal::matrix_type_times_scalar_type<typename VectorsType::Scalar, OtherDerived>::Type Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::HouseholderSequence<VectorsType, CoeffsType, Side>&)
  5595. typename internal::matrix_type_times_scalar_type<typename VectorsType::Scalar,OtherDerived>::Type operator*(const MatrixBase<OtherDerived>& other, const HouseholderSequence<VectorsType,CoeffsType,Side>& h)
  5596. ^
  5597. /usr/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:409:99: note: template argument deduction/substitution failed:
  5598. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5599. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5600. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  5601. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  5602. ^
  5603. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  5604. from /usr/include/eigen3/Eigen/Dense:1,
  5605. from /usr/include/eigen3/Eigen/Eigen:1,
  5606. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5607. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5608. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:216:1: note: template<class Derived, class Lhs, class Rhs> typename Eigen::internal::enable_if<(! Eigen::internal::is_same<typename Derived::Scalar, typename Derived::RealScalar>::value), const Eigen::ScaledProduct<Derived> >::type Eigen::operator*(const typename Derived::RealScalar&, const Eigen::ProductBase<Derived, _Lhs, _Rhs>&)
  5609. operator*(const typename Derived::RealScalar& x,const ProductBase<Derived,Lhs,Rhs>& prod)
  5610. ^
  5611. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:216:1: note: template argument deduction/substitution failed:
  5612. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5613. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5614. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: ‘Eigen::Matrix<ceres::Jet<double, 36>, 3, 1, 0, 3, 1>’ is not derived from ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’
  5615. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  5616. ^
  5617. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  5618. from /usr/include/eigen3/Eigen/Dense:1,
  5619. from /usr/include/eigen3/Eigen/Eigen:1,
  5620. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5621. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5622. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:210:1: note: template<class Derived, class Lhs, class Rhs> const Eigen::ScaledProduct<Derived> Eigen::operator*(const typename Derived::Scalar&, const Eigen::ProductBase<Derived, _Lhs, _Rhs>&)
  5623. operator*(const typename Derived::Scalar& x,const ProductBase<Derived,Lhs,Rhs>& prod)
  5624. ^
  5625. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:210:1: note: template argument deduction/substitution failed:
  5626. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5627. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5628. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: ‘Eigen::Matrix<ceres::Jet<double, 36>, 3, 1, 0, 3, 1>’ is not derived from ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’
  5629. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  5630. ^
  5631. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  5632. from /usr/include/eigen3/Eigen/Dense:1,
  5633. from /usr/include/eigen3/Eigen/Eigen:1,
  5634. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5635. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5636. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:204:1: note: template<class Derived, class Lhs, class Rhs> typename Eigen::internal::enable_if<(! Eigen::internal::is_same<typename Derived::Scalar, typename Derived::RealScalar>::value), const Eigen::ScaledProduct<Derived> >::type Eigen::operator*(const Eigen::ProductBase<Derived, _Lhs, _Rhs>&, const typename Derived::RealScalar&)
  5637. operator*(const ProductBase<Derived,Lhs,Rhs>& prod, const typename Derived::RealScalar& x)
  5638. ^
  5639. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:204:1: note: template argument deduction/substitution failed:
  5640. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5641. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5642. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’ and ‘double’
  5643. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  5644. ^
  5645. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  5646. from /usr/include/eigen3/Eigen/Dense:1,
  5647. from /usr/include/eigen3/Eigen/Eigen:1,
  5648. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5649. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5650. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:198:1: note: template<class Derived, class Lhs, class Rhs> const Eigen::ScaledProduct<Derived> Eigen::operator*(const Eigen::ProductBase<Derived, _Lhs, _Rhs>&, const typename Derived::Scalar&)
  5651. operator*(const ProductBase<Derived,Lhs,Rhs>& prod, const typename Derived::Scalar& x)
  5652. ^
  5653. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:198:1: note: template argument deduction/substitution failed:
  5654. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5655. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5656. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’ and ‘double’
  5657. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  5658. ^
  5659. In file included from /usr/include/eigen3/Eigen/Core:314:0,
  5660. from /usr/include/eigen3/Eigen/Dense:1,
  5661. from /usr/include/eigen3/Eigen/Eigen:1,
  5662. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5663. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5664. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:344:1: note: template<class Derived, class TranspositionDerived> const Eigen::internal::transposition_matrix_product_retval<TranspositionDerived, Derived, 1> Eigen::operator*(const Eigen::TranspositionsBase<TranspositionsDerived>&, const Eigen::MatrixBase<Derived>&)
  5665. operator*(const TranspositionsBase<TranspositionDerived> &transpositions,
  5666. ^
  5667. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:344:1: note: template argument deduction/substitution failed:
  5668. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5669. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5670. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::TranspositionsBase<TranspositionsDerived>’ and ‘double’
  5671. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  5672. ^
  5673. In file included from /usr/include/eigen3/Eigen/Core:314:0,
  5674. from /usr/include/eigen3/Eigen/Dense:1,
  5675. from /usr/include/eigen3/Eigen/Eigen:1,
  5676. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5677. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5678. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:331:1: note: template<class Derived, class TranspositionsDerived> const Eigen::internal::transposition_matrix_product_retval<TranspositionsDerived, Derived, 2> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TranspositionsBase<TranspositionsDerived>&)
  5679. operator*(const MatrixBase<Derived>& matrix,
  5680. ^
  5681. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:331:1: note: template argument deduction/substitution failed:
  5682. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5683. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5684. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  5685. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  5686. ^
  5687. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  5688. from /usr/include/eigen3/Eigen/Dense:1,
  5689. from /usr/include/eigen3/Eigen/Eigen:1,
  5690. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5691. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5692. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:523:1: note: template<class Derived, class PermutationDerived> const Eigen::internal::permut_matrix_product_retval<PermutationDerived, Derived, 1> Eigen::operator*(const Eigen::PermutationBase<PermutationDerived>&, const Eigen::MatrixBase<Derived>&)
  5693. operator*(const PermutationBase<PermutationDerived> &permutation,
  5694. ^
  5695. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:523:1: note: template argument deduction/substitution failed:
  5696. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5697. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5698. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::PermutationBase<PermutationDerived>’ and ‘double’
  5699. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  5700. ^
  5701. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  5702. from /usr/include/eigen3/Eigen/Dense:1,
  5703. from /usr/include/eigen3/Eigen/Eigen:1,
  5704. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5705. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5706. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:510:1: note: template<class Derived, class PermutationDerived> const Eigen::internal::permut_matrix_product_retval<PermutationDerived, Derived, 2> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::PermutationBase<PermutationDerived>&)
  5707. operator*(const MatrixBase<Derived>& matrix,
  5708. ^
  5709. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:510:1: note: template argument deduction/substitution failed:
  5710. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5711. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5712. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  5713. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  5714. ^
  5715. In file included from /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:136:0,
  5716. from /usr/include/eigen3/Eigen/Core:279,
  5717. from /usr/include/eigen3/Eigen/Dense:1,
  5718. from /usr/include/eigen3/Eigen/Eigen:1,
  5719. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5720. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5721. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:80:1: note: const Eigen::CwiseUnaryOp<Eigen::internal::scalar_multiple2_op<ceres::Jet<double, 36>, std::complex<ceres::Jet<double, 36> > >, const Eigen::Matrix<ceres::Jet<double, 36>, 3, 1, 0, 3, 1> > Eigen::operator*(const std::complex<ceres::Jet<double, 36> >&, const StorageBaseType&)
  5722. operator*(const std::complex<Scalar>& scalar, const StorageBaseType& matrix)
  5723. ^
  5724. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:80:1: note: no known conversion for argument 1 from ‘double’ to ‘const std::complex<ceres::Jet<double, 36> >&’
  5725. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:76:1: note: const ScalarMultipleReturnType Eigen::operator*(const Scalar&, const StorageBaseType&)
  5726. operator*(const Scalar& scalar, const StorageBaseType& matrix)
  5727. ^
  5728. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:76:1: note: no known conversion for argument 1 from ‘double’ to ‘const Scalar& {aka const ceres::Jet<double, 36>&}’
  5729. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  5730. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  5731. from /usr/local/include/ceres/ceres.h:37,
  5732. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  5733. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  5734. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5735. /usr/local/include/ceres/jet.h:368:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(T, const ceres::Jet<T, N>&)
  5736. Jet<T, N> operator*(T s, const Jet<T, N>& f) {
  5737. ^
  5738. /usr/local/include/ceres/jet.h:368:11: note: template argument deduction/substitution failed:
  5739. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5740. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5741. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: ‘Eigen::Matrix<ceres::Jet<double, 36>, 3, 1, 0, 3, 1>’ is not derived from ‘const ceres::Jet<T, N>’
  5742. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  5743. ^
  5744. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  5745. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  5746. from /usr/local/include/ceres/ceres.h:37,
  5747. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  5748. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  5749. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5750. /usr/local/include/ceres/jet.h:362:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(const ceres::Jet<T, N>&, T)
  5751. Jet<T, N> operator*(const Jet<T, N>& f, T s) {
  5752. ^
  5753. /usr/local/include/ceres/jet.h:362:11: note: template argument deduction/substitution failed:
  5754. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5755. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5756. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const ceres::Jet<T, N>’ and ‘double’
  5757. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  5758. ^
  5759. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  5760. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  5761. from /usr/local/include/ceres/ceres.h:37,
  5762. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  5763. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  5764. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5765. /usr/local/include/ceres/jet.h:355:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(const ceres::Jet<T, N>&, const ceres::Jet<T, N>&)
  5766. Jet<T, N> operator*(const Jet<T, N>& f,
  5767. ^
  5768. /usr/local/include/ceres/jet.h:355:11: note: template argument deduction/substitution failed:
  5769. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5770. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5771. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:123:46: note: mismatched types ‘const ceres::Jet<T, N>’ and ‘double’
  5772. linacce_[i] + grid_->GetAlphaAt(i) * Eigen::Matrix<T, 3, 1>(bx[inv_ind], by[inv_ind], bz[inv_ind]);
  5773. ^
  5774. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: error: no match for ‘operator*’ (operand types are ‘double’ and ‘Eigen::Matrix<ceres::Jet<double, 36>, 3, 1, 0, 3, 1>’)
  5775. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  5776. ^
  5777. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: candidates are:
  5778. In file included from /usr/include/eigen3/Eigen/Geometry:43:0,
  5779. from /usr/include/eigen3/Eigen/Dense:6,
  5780. from /usr/include/eigen3/Eigen/Eigen:1,
  5781. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5782. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5783. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template<class OtherDerived> Eigen::Translation<ceres::Jet<double, 48>, 3>::AffineTransformType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Translation<ceres::Jet<double, 48>, 3>&)
  5784. inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
  5785. ^
  5786. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template argument deduction/substitution failed:
  5787. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5788. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5789. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  5790. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  5791. ^
  5792. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  5793. from /usr/include/eigen3/Eigen/Dense:6,
  5794. from /usr/include/eigen3/Eigen/Eigen:1,
  5795. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5796. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5797. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<ceres::Jet<double, 48>, 0>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<ceres::Jet<double, 48>, 0>&)
  5798. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  5799. ^
  5800. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  5801. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5802. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5803. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  5804. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  5805. ^
  5806. In file included from /usr/include/eigen3/Eigen/Geometry:43:0,
  5807. from /usr/include/eigen3/Eigen/Dense:6,
  5808. from /usr/include/eigen3/Eigen/Eigen:1,
  5809. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5810. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5811. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template<class OtherDerived> Eigen::Translation<ceres::Jet<double, 60>, 3>::AffineTransformType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Translation<ceres::Jet<double, 60>, 3>&)
  5812. inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
  5813. ^
  5814. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template argument deduction/substitution failed:
  5815. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5816. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5817. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  5818. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  5819. ^
  5820. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  5821. from /usr/include/eigen3/Eigen/Dense:6,
  5822. from /usr/include/eigen3/Eigen/Eigen:1,
  5823. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5824. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5825. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<ceres::Jet<double, 60>, 0>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<ceres::Jet<double, 60>, 0>&)
  5826. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  5827. ^
  5828. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  5829. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5830. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5831. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  5832. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  5833. ^
  5834. In file included from /usr/include/eigen3/Eigen/Geometry:43:0,
  5835. from /usr/include/eigen3/Eigen/Dense:6,
  5836. from /usr/include/eigen3/Eigen/Eigen:1,
  5837. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5838. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5839. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template<class OtherDerived> Eigen::Translation<ceres::Jet<double, 300>, 3>::AffineTransformType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Translation<ceres::Jet<double, 300>, 3>&)
  5840. inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
  5841. ^
  5842. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template argument deduction/substitution failed:
  5843. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5844. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5845. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  5846. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  5847. ^
  5848. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  5849. from /usr/include/eigen3/Eigen/Dense:6,
  5850. from /usr/include/eigen3/Eigen/Eigen:1,
  5851. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5852. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5853. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<ceres::Jet<double, 300>, 0>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<ceres::Jet<double, 300>, 0>&)
  5854. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  5855. ^
  5856. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  5857. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5858. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5859. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  5860. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  5861. ^
  5862. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  5863. from /usr/include/eigen3/Eigen/Dense:1,
  5864. from /usr/include/eigen3/Eigen/Eigen:1,
  5865. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5866. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5867. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<9, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Matrix<double, -1, -1, 0, 3, 2>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Matrix<double, -1, -1, 0, 3, 2>, 9u>&)
  5868. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  5869. ^
  5870. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  5871. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5872. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5873. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  5874. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  5875. ^
  5876. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  5877. from /usr/include/eigen3/Eigen/Dense:1,
  5878. from /usr/include/eigen3/Eigen/Eigen:1,
  5879. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5880. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5881. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<10, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Matrix<double, 3, 3>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Matrix<double, 3, 3>, 10u>&)
  5882. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  5883. ^
  5884. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  5885. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5886. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5887. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  5888. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  5889. ^
  5890. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  5891. from /usr/include/eigen3/Eigen/Dense:1,
  5892. from /usr/include/eigen3/Eigen/Eigen:1,
  5893. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5894. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5895. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<9, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 9u>&)
  5896. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  5897. ^
  5898. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  5899. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5900. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5901. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  5902. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  5903. ^
  5904. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  5905. from /usr/include/eigen3/Eigen/Dense:1,
  5906. from /usr/include/eigen3/Eigen/Eigen:1,
  5907. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5908. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5909. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<1, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 1u>&)
  5910. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  5911. ^
  5912. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  5913. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5914. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5915. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  5916. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  5917. ^
  5918. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  5919. from /usr/include/eigen3/Eigen/Dense:1,
  5920. from /usr/include/eigen3/Eigen/Eigen:1,
  5921. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5922. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5923. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<2, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 2u>&)
  5924. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  5925. ^
  5926. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  5927. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5928. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5929. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  5930. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  5931. ^
  5932. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  5933. from /usr/include/eigen3/Eigen/Dense:1,
  5934. from /usr/include/eigen3/Eigen/Eigen:1,
  5935. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5936. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5937. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:251:33: note: template<class Other> Eigen::PermutationBase<Eigen::PermutationMatrix<2, 2, int> >::PlainPermutationType Eigen::operator*(const Eigen::Transpose<Eigen::PermutationBase<Derived> >&, const Eigen::PermutationBase<Eigen::PermutationMatrix<2, 2, int> >&)
  5938. inline PlainPermutationType operator*(const Transpose<PermutationBase<Other> >& other, const PermutationBase& perm)
  5939. ^
  5940. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:251:33: note: template argument deduction/substitution failed:
  5941. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5942. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5943. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::Transpose<Eigen::PermutationBase<Derived> >’ and ‘double’
  5944. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  5945. ^
  5946. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  5947. from /usr/include/eigen3/Eigen/Dense:6,
  5948. from /usr/include/eigen3/Eigen/Eigen:1,
  5949. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5950. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5951. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::AngleAxis<double>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::AngleAxis<double>&)
  5952. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  5953. ^
  5954. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  5955. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5956. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5957. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  5958. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  5959. ^
  5960. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  5961. from /usr/include/eigen3/Eigen/Dense:6,
  5962. from /usr/include/eigen3/Eigen/Eigen:1,
  5963. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5964. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5965. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template<class DiagonalDerived> Eigen::Transform<double, 3, 2>::TransformTimeDiagonalReturnType Eigen::operator*(const Eigen::DiagonalBase<T>&, const Eigen::Transform<double, 3, 2>&)
  5966. operator * (const DiagonalBase<DiagonalDerived> &a, const Transform &b)
  5967. ^
  5968. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template argument deduction/substitution failed:
  5969. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5970. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5971. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::DiagonalBase<T>’ and ‘double’
  5972. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  5973. ^
  5974. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  5975. from /usr/include/eigen3/Eigen/Dense:6,
  5976. from /usr/include/eigen3/Eigen/Eigen:1,
  5977. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5978. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5979. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template<class OtherDerived> const typename Eigen::internal::transform_left_product_impl<OtherDerived, 2, 0, 3, 4, OtherDerived:: RowsAtCompileTime, OtherDerived:: ColsAtCompileTime>::ResultType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Transform<double, 3, 2>&)
  5980. operator * (const EigenBase<OtherDerived> &a, const Transform &b)
  5981. ^
  5982. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template argument deduction/substitution failed:
  5983. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5984. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5985. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  5986. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  5987. ^
  5988. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  5989. from /usr/include/eigen3/Eigen/Dense:6,
  5990. from /usr/include/eigen3/Eigen/Eigen:1,
  5991. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  5992. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5993. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template<class DiagonalDerived> Eigen::Transform<double, 3, 2, 1>::TransformTimeDiagonalReturnType Eigen::operator*(const Eigen::DiagonalBase<T>&, const Eigen::Transform<double, 3, 2, 1>&)
  5994. operator * (const DiagonalBase<DiagonalDerived> &a, const Transform &b)
  5995. ^
  5996. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template argument deduction/substitution failed:
  5997. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  5998. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  5999. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::DiagonalBase<T>’ and ‘double’
  6000. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  6001. ^
  6002. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  6003. from /usr/include/eigen3/Eigen/Dense:6,
  6004. from /usr/include/eigen3/Eigen/Eigen:1,
  6005. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6006. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6007. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template<class OtherDerived> const typename Eigen::internal::transform_left_product_impl<OtherDerived, 2, 1, 3, 4, OtherDerived:: RowsAtCompileTime, OtherDerived:: ColsAtCompileTime>::ResultType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Transform<double, 3, 2, 1>&)
  6008. operator * (const EigenBase<OtherDerived> &a, const Transform &b)
  6009. ^
  6010. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template argument deduction/substitution failed:
  6011. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6012. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6013. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  6014. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  6015. ^
  6016. In file included from /usr/include/eigen3/Eigen/Geometry:43:0,
  6017. from /usr/include/eigen3/Eigen/Dense:6,
  6018. from /usr/include/eigen3/Eigen/Eigen:1,
  6019. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6020. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6021. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template<class OtherDerived> Eigen::Translation<double, 3>::AffineTransformType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Translation<double, 3>&)
  6022. inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
  6023. ^
  6024. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template argument deduction/substitution failed:
  6025. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6026. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6027. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  6028. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  6029. ^
  6030. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  6031. from /usr/include/eigen3/Eigen/Dense:6,
  6032. from /usr/include/eigen3/Eigen/Eigen:1,
  6033. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6034. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6035. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<double>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<double>&)
  6036. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  6037. ^
  6038. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  6039. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6040. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6041. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  6042. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  6043. ^
  6044. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  6045. from /usr/include/eigen3/Eigen/Dense:6,
  6046. from /usr/include/eigen3/Eigen/Eigen:1,
  6047. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6048. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6049. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<float>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<float>&)
  6050. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  6051. ^
  6052. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  6053. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6054. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6055. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::EigenBase<Derived>’ and ‘double’
  6056. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  6057. ^
  6058. In file included from /usr/include/eigen3/Eigen/Householder:17:0,
  6059. from /usr/include/eigen3/Eigen/QR:10,
  6060. from /usr/include/eigen3/Eigen/Dense:4,
  6061. from /usr/include/eigen3/Eigen/Eigen:1,
  6062. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6063. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6064. /usr/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:409:99: note: template<class OtherDerived, class VectorsType, class CoeffsType, int Side> typename Eigen::internal::matrix_type_times_scalar_type<typename VectorsType::Scalar, OtherDerived>::Type Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::HouseholderSequence<VectorsType, CoeffsType, Side>&)
  6065. typename internal::matrix_type_times_scalar_type<typename VectorsType::Scalar,OtherDerived>::Type operator*(const MatrixBase<OtherDerived>& other, const HouseholderSequence<VectorsType,CoeffsType,Side>& h)
  6066. ^
  6067. /usr/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:409:99: note: template argument deduction/substitution failed:
  6068. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6069. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6070. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  6071. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  6072. ^
  6073. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  6074. from /usr/include/eigen3/Eigen/Dense:1,
  6075. from /usr/include/eigen3/Eigen/Eigen:1,
  6076. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6077. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6078. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:216:1: note: template<class Derived, class Lhs, class Rhs> typename Eigen::internal::enable_if<(! Eigen::internal::is_same<typename Derived::Scalar, typename Derived::RealScalar>::value), const Eigen::ScaledProduct<Derived> >::type Eigen::operator*(const typename Derived::RealScalar&, const Eigen::ProductBase<Derived, _Lhs, _Rhs>&)
  6079. operator*(const typename Derived::RealScalar& x,const ProductBase<Derived,Lhs,Rhs>& prod)
  6080. ^
  6081. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:216:1: note: template argument deduction/substitution failed:
  6082. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6083. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6084. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: ‘Eigen::Matrix<ceres::Jet<double, 36>, 3, 1, 0, 3, 1>’ is not derived from ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’
  6085. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  6086. ^
  6087. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  6088. from /usr/include/eigen3/Eigen/Dense:1,
  6089. from /usr/include/eigen3/Eigen/Eigen:1,
  6090. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6091. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6092. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:210:1: note: template<class Derived, class Lhs, class Rhs> const Eigen::ScaledProduct<Derived> Eigen::operator*(const typename Derived::Scalar&, const Eigen::ProductBase<Derived, _Lhs, _Rhs>&)
  6093. operator*(const typename Derived::Scalar& x,const ProductBase<Derived,Lhs,Rhs>& prod)
  6094. ^
  6095. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:210:1: note: template argument deduction/substitution failed:
  6096. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6097. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6098. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: ‘Eigen::Matrix<ceres::Jet<double, 36>, 3, 1, 0, 3, 1>’ is not derived from ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’
  6099. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  6100. ^
  6101. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  6102. from /usr/include/eigen3/Eigen/Dense:1,
  6103. from /usr/include/eigen3/Eigen/Eigen:1,
  6104. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6105. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6106. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:204:1: note: template<class Derived, class Lhs, class Rhs> typename Eigen::internal::enable_if<(! Eigen::internal::is_same<typename Derived::Scalar, typename Derived::RealScalar>::value), const Eigen::ScaledProduct<Derived> >::type Eigen::operator*(const Eigen::ProductBase<Derived, _Lhs, _Rhs>&, const typename Derived::RealScalar&)
  6107. operator*(const ProductBase<Derived,Lhs,Rhs>& prod, const typename Derived::RealScalar& x)
  6108. ^
  6109. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:204:1: note: template argument deduction/substitution failed:
  6110. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6111. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6112. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’ and ‘double’
  6113. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  6114. ^
  6115. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  6116. from /usr/include/eigen3/Eigen/Dense:1,
  6117. from /usr/include/eigen3/Eigen/Eigen:1,
  6118. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6119. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6120. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:198:1: note: template<class Derived, class Lhs, class Rhs> const Eigen::ScaledProduct<Derived> Eigen::operator*(const Eigen::ProductBase<Derived, _Lhs, _Rhs>&, const typename Derived::Scalar&)
  6121. operator*(const ProductBase<Derived,Lhs,Rhs>& prod, const typename Derived::Scalar& x)
  6122. ^
  6123. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:198:1: note: template argument deduction/substitution failed:
  6124. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6125. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6126. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’ and ‘double’
  6127. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  6128. ^
  6129. In file included from /usr/include/eigen3/Eigen/Core:314:0,
  6130. from /usr/include/eigen3/Eigen/Dense:1,
  6131. from /usr/include/eigen3/Eigen/Eigen:1,
  6132. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6133. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6134. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:344:1: note: template<class Derived, class TranspositionDerived> const Eigen::internal::transposition_matrix_product_retval<TranspositionDerived, Derived, 1> Eigen::operator*(const Eigen::TranspositionsBase<TranspositionsDerived>&, const Eigen::MatrixBase<Derived>&)
  6135. operator*(const TranspositionsBase<TranspositionDerived> &transpositions,
  6136. ^
  6137. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:344:1: note: template argument deduction/substitution failed:
  6138. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6139. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6140. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::TranspositionsBase<TranspositionsDerived>’ and ‘double’
  6141. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  6142. ^
  6143. In file included from /usr/include/eigen3/Eigen/Core:314:0,
  6144. from /usr/include/eigen3/Eigen/Dense:1,
  6145. from /usr/include/eigen3/Eigen/Eigen:1,
  6146. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6147. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6148. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:331:1: note: template<class Derived, class TranspositionsDerived> const Eigen::internal::transposition_matrix_product_retval<TranspositionsDerived, Derived, 2> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TranspositionsBase<TranspositionsDerived>&)
  6149. operator*(const MatrixBase<Derived>& matrix,
  6150. ^
  6151. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:331:1: note: template argument deduction/substitution failed:
  6152. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6153. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6154. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  6155. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  6156. ^
  6157. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  6158. from /usr/include/eigen3/Eigen/Dense:1,
  6159. from /usr/include/eigen3/Eigen/Eigen:1,
  6160. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6161. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6162. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:523:1: note: template<class Derived, class PermutationDerived> const Eigen::internal::permut_matrix_product_retval<PermutationDerived, Derived, 1> Eigen::operator*(const Eigen::PermutationBase<PermutationDerived>&, const Eigen::MatrixBase<Derived>&)
  6163. operator*(const PermutationBase<PermutationDerived> &permutation,
  6164. ^
  6165. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:523:1: note: template argument deduction/substitution failed:
  6166. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6167. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6168. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::PermutationBase<PermutationDerived>’ and ‘double’
  6169. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  6170. ^
  6171. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  6172. from /usr/include/eigen3/Eigen/Dense:1,
  6173. from /usr/include/eigen3/Eigen/Eigen:1,
  6174. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6175. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6176. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:510:1: note: template<class Derived, class PermutationDerived> const Eigen::internal::permut_matrix_product_retval<PermutationDerived, Derived, 2> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::PermutationBase<PermutationDerived>&)
  6177. operator*(const MatrixBase<Derived>& matrix,
  6178. ^
  6179. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:510:1: note: template argument deduction/substitution failed:
  6180. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6181. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6182. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  6183. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  6184. ^
  6185. In file included from /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:136:0,
  6186. from /usr/include/eigen3/Eigen/Core:279,
  6187. from /usr/include/eigen3/Eigen/Dense:1,
  6188. from /usr/include/eigen3/Eigen/Eigen:1,
  6189. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6190. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6191. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:80:1: note: const Eigen::CwiseUnaryOp<Eigen::internal::scalar_multiple2_op<ceres::Jet<double, 36>, std::complex<ceres::Jet<double, 36> > >, const Eigen::Matrix<ceres::Jet<double, 36>, 3, 1, 0, 3, 1> > Eigen::operator*(const std::complex<ceres::Jet<double, 36> >&, const StorageBaseType&)
  6192. operator*(const std::complex<Scalar>& scalar, const StorageBaseType& matrix)
  6193. ^
  6194. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:80:1: note: no known conversion for argument 1 from ‘double’ to ‘const std::complex<ceres::Jet<double, 36> >&’
  6195. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:76:1: note: const ScalarMultipleReturnType Eigen::operator*(const Scalar&, const StorageBaseType&)
  6196. operator*(const Scalar& scalar, const StorageBaseType& matrix)
  6197. ^
  6198. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:76:1: note: no known conversion for argument 1 from ‘double’ to ‘const Scalar& {aka const ceres::Jet<double, 36>&}’
  6199. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  6200. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  6201. from /usr/local/include/ceres/ceres.h:37,
  6202. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  6203. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  6204. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6205. /usr/local/include/ceres/jet.h:368:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(T, const ceres::Jet<T, N>&)
  6206. Jet<T, N> operator*(T s, const Jet<T, N>& f) {
  6207. ^
  6208. /usr/local/include/ceres/jet.h:368:11: note: template argument deduction/substitution failed:
  6209. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6210. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6211. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: ‘Eigen::Matrix<ceres::Jet<double, 36>, 3, 1, 0, 3, 1>’ is not derived from ‘const ceres::Jet<T, N>’
  6212. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  6213. ^
  6214. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  6215. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  6216. from /usr/local/include/ceres/ceres.h:37,
  6217. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  6218. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  6219. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6220. /usr/local/include/ceres/jet.h:362:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(const ceres::Jet<T, N>&, T)
  6221. Jet<T, N> operator*(const Jet<T, N>& f, T s) {
  6222. ^
  6223. /usr/local/include/ceres/jet.h:362:11: note: template argument deduction/substitution failed:
  6224. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6225. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6226. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const ceres::Jet<T, N>’ and ‘double’
  6227. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  6228. ^
  6229. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  6230. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  6231. from /usr/local/include/ceres/ceres.h:37,
  6232. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  6233. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  6234. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6235. /usr/local/include/ceres/jet.h:355:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(const ceres::Jet<T, N>&, const ceres::Jet<T, N>&)
  6236. Jet<T, N> operator*(const Jet<T, N>& f,
  6237. ^
  6238. /usr/local/include/ceres/jet.h:355:11: note: template argument deduction/substitution failed:
  6239. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6240. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6241. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:126:72: note: mismatched types ‘const ceres::Jet<T, N>’ and ‘double’
  6242. corrected_acce = corrected_acce + (1.0 - grid_->GetAlphaAt(i)) *
  6243. ^
  6244. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: error: no match for ‘operator*’ (operand types are ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 36>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 36>, 3, 1, 0, 3, 1>}’ and ‘double’)
  6245. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  6246. ^
  6247. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: candidates are:
  6248. In file included from /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:136:0,
  6249. from /usr/include/eigen3/Eigen/Core:279,
  6250. from /usr/include/eigen3/Eigen/Dense:1,
  6251. from /usr/include/eigen3/Eigen/Eigen:1,
  6252. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6253. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6254. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:49:1: note: const ScalarMultipleReturnType Eigen::MatrixBase<Derived>::operator*(const Scalar&) const [with Derived = Eigen::Matrix<ceres::Jet<double, 36>, 3, 1, 0, 3, 1>; Eigen::MatrixBase<Derived>::ScalarMultipleReturnType = Eigen::CwiseUnaryOp<Eigen::internal::scalar_multiple_op<ceres::Jet<double, 36> >, const Eigen::Matrix<ceres::Jet<double, 36>, 3, 1, 0, 3, 1> >; typename Eigen::internal::traits<T>::Scalar = ceres::Jet<double, 36>; Eigen::MatrixBase<Derived>::Scalar = ceres::Jet<double, 36>]
  6255. operator*(const Scalar& scalar) const
  6256. ^
  6257. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:49:1: note: no known conversion for argument 1 from ‘double’ to ‘const Scalar& {aka const ceres::Jet<double, 36>&}’
  6258. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:69:1: note: const Eigen::CwiseUnaryOp<Eigen::internal::scalar_multiple2_op<typename Eigen::internal::traits<T>::Scalar, std::complex<typename Eigen::internal::traits<T>::Scalar> >, const Derived> Eigen::MatrixBase<Derived>::operator*(const std::complex<typename Eigen::internal::traits<T>::Scalar>&) const [with Derived = Eigen::Matrix<ceres::Jet<double, 36>, 3, 1, 0, 3, 1>; typename Eigen::internal::traits<T>::Scalar = ceres::Jet<double, 36>]
  6259. operator*(const std::complex<Scalar>& scalar) const
  6260. ^
  6261. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:69:1: note: no known conversion for argument 1 from ‘double’ to ‘const std::complex<ceres::Jet<double, 36> >&’
  6262. In file included from /usr/include/eigen3/Eigen/Core:323:0,
  6263. from /usr/include/eigen3/Eigen/Dense:1,
  6264. from /usr/include/eigen3/Eigen/Eigen:1,
  6265. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6266. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6267. /usr/include/eigen3/Eigen/src/Core/GeneralProduct.h:571:1: note: template<class OtherDerived> const typename Eigen::ProductReturnType<Derived, OtherDerived>::Type Eigen::MatrixBase<Derived>::operator*(const Eigen::MatrixBase<OtherDerived>&) const [with OtherDerived = OtherDerived; Derived = Eigen::Matrix<ceres::Jet<double, 36>, 3, 1, 0, 3, 1>]
  6268. MatrixBase<Derived>::operator*(const MatrixBase<OtherDerived> &other) const
  6269. ^
  6270. /usr/include/eigen3/Eigen/src/Core/GeneralProduct.h:571:1: note: template argument deduction/substitution failed:
  6271. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6272. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6273. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: mismatched types ‘const Eigen::MatrixBase<Derived>’ and ‘double’
  6274. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  6275. ^
  6276. In file included from /usr/include/eigen3/Eigen/Core:279:0,
  6277. from /usr/include/eigen3/Eigen/Dense:1,
  6278. from /usr/include/eigen3/Eigen/Eigen:1,
  6279. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6280. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6281. /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:194:5: note: template<class DiagonalDerived> const Eigen::DiagonalProduct<Derived, DiagonalDerived, 2> Eigen::MatrixBase<Derived>::operator*(const Eigen::DiagonalBase<DiagonalDerived>&) const [with DiagonalDerived = DiagonalDerived; Derived = Eigen::Matrix<ceres::Jet<double, 36>, 3, 1, 0, 3, 1>]
  6282. operator*(const DiagonalBase<DiagonalDerived> &diagonal) const;
  6283. ^
  6284. /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:194:5: note: template argument deduction/substitution failed:
  6285. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6286. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6287. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: mismatched types ‘const Eigen::DiagonalBase<T>’ and ‘double’
  6288. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  6289. ^
  6290. In file included from /usr/include/eigen3/Eigen/Geometry:44:0,
  6291. from /usr/include/eigen3/Eigen/Dense:6,
  6292. from /usr/include/eigen3/Eigen/Eigen:1,
  6293. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6294. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6295. /usr/include/eigen3/Eigen/src/Geometry/Scaling.h:111:1: note: Eigen::MatrixBase<Derived>::ScalarMultipleReturnType Eigen::MatrixBase<Derived>::operator*(const Eigen::UniformScaling<typename Eigen::internal::traits<T>::Scalar>&) const [with Derived = Eigen::Matrix<ceres::Jet<double, 36>, 3, 1, 0, 3, 1>; Eigen::MatrixBase<Derived>::ScalarMultipleReturnType = Eigen::CwiseUnaryOp<Eigen::internal::scalar_multiple_op<ceres::Jet<double, 36> >, const Eigen::Matrix<ceres::Jet<double, 36>, 3, 1, 0, 3, 1> >; typename Eigen::internal::traits<T>::Scalar = ceres::Jet<double, 36>]
  6296. MatrixBase<Derived>::operator*(const UniformScaling<Scalar>& s) const
  6297. ^
  6298. /usr/include/eigen3/Eigen/src/Geometry/Scaling.h:111:1: note: no known conversion for argument 1 from ‘double’ to ‘const Eigen::UniformScaling<ceres::Jet<double, 36> >&’
  6299. In file included from /usr/include/eigen3/Eigen/Geometry:43:0,
  6300. from /usr/include/eigen3/Eigen/Dense:6,
  6301. from /usr/include/eigen3/Eigen/Eigen:1,
  6302. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6303. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6304. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template<class OtherDerived> Eigen::Translation<ceres::Jet<double, 36>, 3>::AffineTransformType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Translation<ceres::Jet<double, 36>, 3>&)
  6305. inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
  6306. ^
  6307. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template argument deduction/substitution failed:
  6308. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6309. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6310. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<12, 8>*)this)->ridi::LocalSpeedFunctor<12, 8>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<12, 8>*)this)->ridi::LocalSpeedFunctor<12, 8>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Translation<ceres::Jet<double, 36>, 3>&’
  6311. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  6312. ^
  6313. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  6314. from /usr/include/eigen3/Eigen/Dense:6,
  6315. from /usr/include/eigen3/Eigen/Eigen:1,
  6316. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6317. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6318. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<ceres::Jet<double, 36>, 0>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<ceres::Jet<double, 36>, 0>&)
  6319. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  6320. ^
  6321. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  6322. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6323. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6324. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<12, 8>*)this)->ridi::LocalSpeedFunctor<12, 8>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<12, 8>*)this)->ridi::LocalSpeedFunctor<12, 8>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Quaternion<ceres::Jet<double, 36>, 0>&’
  6325. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  6326. ^
  6327. In file included from /usr/include/eigen3/Eigen/Geometry:43:0,
  6328. from /usr/include/eigen3/Eigen/Dense:6,
  6329. from /usr/include/eigen3/Eigen/Eigen:1,
  6330. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6331. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6332. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template<class OtherDerived> Eigen::Translation<ceres::Jet<double, 48>, 3>::AffineTransformType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Translation<ceres::Jet<double, 48>, 3>&)
  6333. inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
  6334. ^
  6335. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template argument deduction/substitution failed:
  6336. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6337. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6338. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<12, 8>*)this)->ridi::LocalSpeedFunctor<12, 8>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<12, 8>*)this)->ridi::LocalSpeedFunctor<12, 8>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Translation<ceres::Jet<double, 48>, 3>&’
  6339. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  6340. ^
  6341. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  6342. from /usr/include/eigen3/Eigen/Dense:6,
  6343. from /usr/include/eigen3/Eigen/Eigen:1,
  6344. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6345. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6346. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<ceres::Jet<double, 48>, 0>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<ceres::Jet<double, 48>, 0>&)
  6347. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  6348. ^
  6349. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  6350. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6351. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6352. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<12, 8>*)this)->ridi::LocalSpeedFunctor<12, 8>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<12, 8>*)this)->ridi::LocalSpeedFunctor<12, 8>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Quaternion<ceres::Jet<double, 48>, 0>&’
  6353. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  6354. ^
  6355. In file included from /usr/include/eigen3/Eigen/Geometry:43:0,
  6356. from /usr/include/eigen3/Eigen/Dense:6,
  6357. from /usr/include/eigen3/Eigen/Eigen:1,
  6358. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6359. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6360. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template<class OtherDerived> Eigen::Translation<ceres::Jet<double, 60>, 3>::AffineTransformType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Translation<ceres::Jet<double, 60>, 3>&)
  6361. inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
  6362. ^
  6363. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template argument deduction/substitution failed:
  6364. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6365. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6366. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<12, 8>*)this)->ridi::LocalSpeedFunctor<12, 8>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<12, 8>*)this)->ridi::LocalSpeedFunctor<12, 8>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Translation<ceres::Jet<double, 60>, 3>&’
  6367. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  6368. ^
  6369. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  6370. from /usr/include/eigen3/Eigen/Dense:6,
  6371. from /usr/include/eigen3/Eigen/Eigen:1,
  6372. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6373. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6374. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<ceres::Jet<double, 60>, 0>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<ceres::Jet<double, 60>, 0>&)
  6375. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  6376. ^
  6377. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  6378. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6379. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6380. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<12, 8>*)this)->ridi::LocalSpeedFunctor<12, 8>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<12, 8>*)this)->ridi::LocalSpeedFunctor<12, 8>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Quaternion<ceres::Jet<double, 60>, 0>&’
  6381. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  6382. ^
  6383. In file included from /usr/include/eigen3/Eigen/Geometry:43:0,
  6384. from /usr/include/eigen3/Eigen/Dense:6,
  6385. from /usr/include/eigen3/Eigen/Eigen:1,
  6386. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6387. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6388. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template<class OtherDerived> Eigen::Translation<ceres::Jet<double, 300>, 3>::AffineTransformType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Translation<ceres::Jet<double, 300>, 3>&)
  6389. inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
  6390. ^
  6391. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template argument deduction/substitution failed:
  6392. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6393. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6394. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<12, 8>*)this)->ridi::LocalSpeedFunctor<12, 8>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<12, 8>*)this)->ridi::LocalSpeedFunctor<12, 8>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Translation<ceres::Jet<double, 300>, 3>&’
  6395. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  6396. ^
  6397. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  6398. from /usr/include/eigen3/Eigen/Dense:6,
  6399. from /usr/include/eigen3/Eigen/Eigen:1,
  6400. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6401. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6402. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<ceres::Jet<double, 300>, 0>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<ceres::Jet<double, 300>, 0>&)
  6403. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  6404. ^
  6405. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  6406. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6407. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6408. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<12, 8>*)this)->ridi::LocalSpeedFunctor<12, 8>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<12, 8>*)this)->ridi::LocalSpeedFunctor<12, 8>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Quaternion<ceres::Jet<double, 300>, 0>&’
  6409. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  6410. ^
  6411. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  6412. from /usr/include/eigen3/Eigen/Dense:1,
  6413. from /usr/include/eigen3/Eigen/Eigen:1,
  6414. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6415. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6416. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<9, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Matrix<double, -1, -1, 0, 3, 2>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Matrix<double, -1, -1, 0, 3, 2>, 9u>&)
  6417. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  6418. ^
  6419. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  6420. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6421. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6422. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<12, 8>*)this)->ridi::LocalSpeedFunctor<12, 8>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<12, 8>*)this)->ridi::LocalSpeedFunctor<12, 8>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::TriangularView<Eigen::Matrix<double, -1, -1, 0, 3, 2>, 9u>&’
  6423. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  6424. ^
  6425. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  6426. from /usr/include/eigen3/Eigen/Dense:1,
  6427. from /usr/include/eigen3/Eigen/Eigen:1,
  6428. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6429. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6430. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<10, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Matrix<double, 3, 3>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Matrix<double, 3, 3>, 10u>&)
  6431. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  6432. ^
  6433. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  6434. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6435. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6436. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<12, 8>*)this)->ridi::LocalSpeedFunctor<12, 8>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<12, 8>*)this)->ridi::LocalSpeedFunctor<12, 8>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::TriangularView<Eigen::Matrix<double, 3, 3>, 10u>&’
  6437. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  6438. ^
  6439. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  6440. from /usr/include/eigen3/Eigen/Dense:1,
  6441. from /usr/include/eigen3/Eigen/Eigen:1,
  6442. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6443. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6444. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<9, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 9u>&)
  6445. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  6446. ^
  6447. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  6448. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6449. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6450. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<12, 8>*)this)->ridi::LocalSpeedFunctor<12, 8>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<12, 8>*)this)->ridi::LocalSpeedFunctor<12, 8>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::TriangularView<Eigen::Block<Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 9u>&’
  6451. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  6452. ^
  6453. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  6454. from /usr/include/eigen3/Eigen/Dense:1,
  6455. from /usr/include/eigen3/Eigen/Eigen:1,
  6456. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6457. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6458. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<1, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 1u>&)
  6459. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  6460. ^
  6461. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  6462. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6463. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6464. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<12, 8>*)this)->ridi::LocalSpeedFunctor<12, 8>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<12, 8>*)this)->ridi::LocalSpeedFunctor<12, 8>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::TriangularView<const Eigen::Transpose<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false> >, 1u>&’
  6465. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  6466. ^
  6467. In file included from /usr/include/eigen3/Eigen/Core:324:0,
  6468. from /usr/include/eigen3/Eigen/Dense:1,
  6469. from /usr/include/eigen3/Eigen/Eigen:1,
  6470. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6471. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6472. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template<class OtherDerived> Eigen::TriangularProduct<2, false, OtherDerived, OtherDerived:: IsVectorAtCompileTime, const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, false> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TriangularView<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 2u>&)
  6473. operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
  6474. ^
  6475. /usr/include/eigen3/Eigen/src/Core/TriangularMatrix.h:292:5: note: template argument deduction/substitution failed:
  6476. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6477. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6478. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<12, 8>*)this)->ridi::LocalSpeedFunctor<12, 8>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<12, 8>*)this)->ridi::LocalSpeedFunctor<12, 8>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::TriangularView<const Eigen::Block<const Eigen::Matrix<double, 3, 2, 0, 3, 2>, -1, -1, false>, 2u>&’
  6479. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  6480. ^
  6481. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  6482. from /usr/include/eigen3/Eigen/Dense:1,
  6483. from /usr/include/eigen3/Eigen/Eigen:1,
  6484. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6485. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6486. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:251:33: note: template<class Other> Eigen::PermutationBase<Eigen::PermutationMatrix<2, 2, int> >::PlainPermutationType Eigen::operator*(const Eigen::Transpose<Eigen::PermutationBase<Derived> >&, const Eigen::PermutationBase<Eigen::PermutationMatrix<2, 2, int> >&)
  6487. inline PlainPermutationType operator*(const Transpose<PermutationBase<Other> >& other, const PermutationBase& perm)
  6488. ^
  6489. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:251:33: note: template argument deduction/substitution failed:
  6490. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6491. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6492. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 36>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 36>, 3, 1, 0, 3, 1>}’ is not derived from ‘const Eigen::Transpose<Eigen::PermutationBase<Derived> >’
  6493. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  6494. ^
  6495. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  6496. from /usr/include/eigen3/Eigen/Dense:6,
  6497. from /usr/include/eigen3/Eigen/Eigen:1,
  6498. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6499. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6500. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::AngleAxis<double>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::AngleAxis<double>&)
  6501. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  6502. ^
  6503. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  6504. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6505. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6506. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<12, 8>*)this)->ridi::LocalSpeedFunctor<12, 8>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<12, 8>*)this)->ridi::LocalSpeedFunctor<12, 8>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::AngleAxis<double>&’
  6507. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  6508. ^
  6509. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  6510. from /usr/include/eigen3/Eigen/Dense:6,
  6511. from /usr/include/eigen3/Eigen/Eigen:1,
  6512. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6513. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6514. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template<class DiagonalDerived> Eigen::Transform<double, 3, 2>::TransformTimeDiagonalReturnType Eigen::operator*(const Eigen::DiagonalBase<T>&, const Eigen::Transform<double, 3, 2>&)
  6515. operator * (const DiagonalBase<DiagonalDerived> &a, const Transform &b)
  6516. ^
  6517. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template argument deduction/substitution failed:
  6518. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6519. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6520. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 36>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 36>, 3, 1, 0, 3, 1>}’ is not derived from ‘const Eigen::DiagonalBase<T>’
  6521. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  6522. ^
  6523. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  6524. from /usr/include/eigen3/Eigen/Dense:6,
  6525. from /usr/include/eigen3/Eigen/Eigen:1,
  6526. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6527. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6528. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template<class OtherDerived> const typename Eigen::internal::transform_left_product_impl<OtherDerived, 2, 0, 3, 4, OtherDerived:: RowsAtCompileTime, OtherDerived:: ColsAtCompileTime>::ResultType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Transform<double, 3, 2>&)
  6529. operator * (const EigenBase<OtherDerived> &a, const Transform &b)
  6530. ^
  6531. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template argument deduction/substitution failed:
  6532. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6533. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6534. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<12, 8>*)this)->ridi::LocalSpeedFunctor<12, 8>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<12, 8>*)this)->ridi::LocalSpeedFunctor<12, 8>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Transform<double, 3, 2>&’
  6535. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  6536. ^
  6537. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  6538. from /usr/include/eigen3/Eigen/Dense:6,
  6539. from /usr/include/eigen3/Eigen/Eigen:1,
  6540. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6541. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6542. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template<class DiagonalDerived> Eigen::Transform<double, 3, 2, 1>::TransformTimeDiagonalReturnType Eigen::operator*(const Eigen::DiagonalBase<T>&, const Eigen::Transform<double, 3, 2, 1>&)
  6543. operator * (const DiagonalBase<DiagonalDerived> &a, const Transform &b)
  6544. ^
  6545. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:438:5: note: template argument deduction/substitution failed:
  6546. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6547. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6548. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 36>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 36>, 3, 1, 0, 3, 1>}’ is not derived from ‘const Eigen::DiagonalBase<T>’
  6549. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  6550. ^
  6551. In file included from /usr/include/eigen3/Eigen/Geometry:42:0,
  6552. from /usr/include/eigen3/Eigen/Dense:6,
  6553. from /usr/include/eigen3/Eigen/Eigen:1,
  6554. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6555. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6556. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template<class OtherDerived> const typename Eigen::internal::transform_left_product_impl<OtherDerived, 2, 1, 3, 4, OtherDerived:: RowsAtCompileTime, OtherDerived:: ColsAtCompileTime>::ResultType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Transform<double, 3, 2, 1>&)
  6557. operator * (const EigenBase<OtherDerived> &a, const Transform &b)
  6558. ^
  6559. /usr/include/eigen3/Eigen/src/Geometry/Transform.h:412:5: note: template argument deduction/substitution failed:
  6560. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6561. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6562. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<12, 8>*)this)->ridi::LocalSpeedFunctor<12, 8>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<12, 8>*)this)->ridi::LocalSpeedFunctor<12, 8>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Transform<double, 3, 2, 1>&’
  6563. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  6564. ^
  6565. In file included from /usr/include/eigen3/Eigen/Geometry:43:0,
  6566. from /usr/include/eigen3/Eigen/Dense:6,
  6567. from /usr/include/eigen3/Eigen/Eigen:1,
  6568. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6569. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6570. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template<class OtherDerived> Eigen::Translation<double, 3>::AffineTransformType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Translation<double, 3>&)
  6571. inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
  6572. ^
  6573. /usr/include/eigen3/Eigen/src/Geometry/Translation.h:112:30: note: template argument deduction/substitution failed:
  6574. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6575. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6576. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<12, 8>*)this)->ridi::LocalSpeedFunctor<12, 8>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<12, 8>*)this)->ridi::LocalSpeedFunctor<12, 8>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Translation<double, 3>&’
  6577. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  6578. ^
  6579. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  6580. from /usr/include/eigen3/Eigen/Dense:6,
  6581. from /usr/include/eigen3/Eigen/Eigen:1,
  6582. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6583. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6584. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<double>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<double>&)
  6585. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  6586. ^
  6587. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  6588. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6589. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6590. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<12, 8>*)this)->ridi::LocalSpeedFunctor<12, 8>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<12, 8>*)this)->ridi::LocalSpeedFunctor<12, 8>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Quaternion<double>&’
  6591. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  6592. ^
  6593. In file included from /usr/include/eigen3/Eigen/Geometry:38:0,
  6594. from /usr/include/eigen3/Eigen/Dense:6,
  6595. from /usr/include/eigen3/Eigen/Eigen:1,
  6596. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6597. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6598. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template<class OtherDerived> Eigen::RotationBase<Eigen::Quaternion<float>, 3>::RotationMatrixType Eigen::operator*(const Eigen::EigenBase<Derived>&, const Eigen::Quaternion<float>&)
  6599. inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
  6600. ^
  6601. /usr/include/eigen3/Eigen/src/Geometry/RotationBase.h:76:31: note: template argument deduction/substitution failed:
  6602. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6603. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6604. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: cannot convert ‘(((double)(*(((const double*)((const ridi::LocalSpeedFunctor<12, 8>*)this)->ridi::LocalSpeedFunctor<12, 8>::time_stamp_) + ((sizetype)(((long unsigned int)i) * 8ul))))) - ((double)(*(((const double*)((const ridi::LocalSpeedFunctor<12, 8>*)this)->ridi::LocalSpeedFunctor<12, 8>::time_stamp_) + (((sizetype)(((long unsigned int)i) * 8ul)) + 18446744073709551608u)))))’ (type ‘double’) to type ‘const Eigen::Quaternion<float>&’
  6605. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  6606. ^
  6607. In file included from /usr/include/eigen3/Eigen/Householder:17:0,
  6608. from /usr/include/eigen3/Eigen/QR:10,
  6609. from /usr/include/eigen3/Eigen/Dense:4,
  6610. from /usr/include/eigen3/Eigen/Eigen:1,
  6611. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6612. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6613. /usr/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:409:99: note: template<class OtherDerived, class VectorsType, class CoeffsType, int Side> typename Eigen::internal::matrix_type_times_scalar_type<typename VectorsType::Scalar, OtherDerived>::Type Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::HouseholderSequence<VectorsType, CoeffsType, Side>&)
  6614. typename internal::matrix_type_times_scalar_type<typename VectorsType::Scalar,OtherDerived>::Type operator*(const MatrixBase<OtherDerived>& other, const HouseholderSequence<VectorsType,CoeffsType,Side>& h)
  6615. ^
  6616. /usr/include/eigen3/Eigen/src/Householder/HouseholderSequence.h:409:99: note: template argument deduction/substitution failed:
  6617. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6618. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6619. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: mismatched types ‘const Eigen::HouseholderSequence<VectorsType, CoeffsType, Side>’ and ‘double’
  6620. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  6621. ^
  6622. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  6623. from /usr/include/eigen3/Eigen/Dense:1,
  6624. from /usr/include/eigen3/Eigen/Eigen:1,
  6625. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6626. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6627. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:216:1: note: template<class Derived, class Lhs, class Rhs> typename Eigen::internal::enable_if<(! Eigen::internal::is_same<typename Derived::Scalar, typename Derived::RealScalar>::value), const Eigen::ScaledProduct<Derived> >::type Eigen::operator*(const typename Derived::RealScalar&, const Eigen::ProductBase<Derived, _Lhs, _Rhs>&)
  6628. operator*(const typename Derived::RealScalar& x,const ProductBase<Derived,Lhs,Rhs>& prod)
  6629. ^
  6630. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:216:1: note: template argument deduction/substitution failed:
  6631. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6632. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6633. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: mismatched types ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’ and ‘double’
  6634. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  6635. ^
  6636. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  6637. from /usr/include/eigen3/Eigen/Dense:1,
  6638. from /usr/include/eigen3/Eigen/Eigen:1,
  6639. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6640. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6641. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:210:1: note: template<class Derived, class Lhs, class Rhs> const Eigen::ScaledProduct<Derived> Eigen::operator*(const typename Derived::Scalar&, const Eigen::ProductBase<Derived, _Lhs, _Rhs>&)
  6642. operator*(const typename Derived::Scalar& x,const ProductBase<Derived,Lhs,Rhs>& prod)
  6643. ^
  6644. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:210:1: note: template argument deduction/substitution failed:
  6645. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6646. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6647. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: mismatched types ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’ and ‘double’
  6648. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  6649. ^
  6650. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  6651. from /usr/include/eigen3/Eigen/Dense:1,
  6652. from /usr/include/eigen3/Eigen/Eigen:1,
  6653. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6654. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6655. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:204:1: note: template<class Derived, class Lhs, class Rhs> typename Eigen::internal::enable_if<(! Eigen::internal::is_same<typename Derived::Scalar, typename Derived::RealScalar>::value), const Eigen::ScaledProduct<Derived> >::type Eigen::operator*(const Eigen::ProductBase<Derived, _Lhs, _Rhs>&, const typename Derived::RealScalar&)
  6656. operator*(const ProductBase<Derived,Lhs,Rhs>& prod, const typename Derived::RealScalar& x)
  6657. ^
  6658. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:204:1: note: template argument deduction/substitution failed:
  6659. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6660. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6661. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 36>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 36>, 3, 1, 0, 3, 1>}’ is not derived from ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’
  6662. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  6663. ^
  6664. In file included from /usr/include/eigen3/Eigen/Core:322:0,
  6665. from /usr/include/eigen3/Eigen/Dense:1,
  6666. from /usr/include/eigen3/Eigen/Eigen:1,
  6667. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6668. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6669. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:198:1: note: template<class Derived, class Lhs, class Rhs> const Eigen::ScaledProduct<Derived> Eigen::operator*(const Eigen::ProductBase<Derived, _Lhs, _Rhs>&, const typename Derived::Scalar&)
  6670. operator*(const ProductBase<Derived,Lhs,Rhs>& prod, const typename Derived::Scalar& x)
  6671. ^
  6672. /usr/include/eigen3/Eigen/src/Core/ProductBase.h:198:1: note: template argument deduction/substitution failed:
  6673. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6674. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6675. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 36>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 36>, 3, 1, 0, 3, 1>}’ is not derived from ‘const Eigen::ProductBase<Derived, _Lhs, _Rhs>’
  6676. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  6677. ^
  6678. In file included from /usr/include/eigen3/Eigen/Core:314:0,
  6679. from /usr/include/eigen3/Eigen/Dense:1,
  6680. from /usr/include/eigen3/Eigen/Eigen:1,
  6681. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6682. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6683. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:344:1: note: template<class Derived, class TranspositionDerived> const Eigen::internal::transposition_matrix_product_retval<TranspositionDerived, Derived, 1> Eigen::operator*(const Eigen::TranspositionsBase<TranspositionsDerived>&, const Eigen::MatrixBase<Derived>&)
  6684. operator*(const TranspositionsBase<TranspositionDerived> &transpositions,
  6685. ^
  6686. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:344:1: note: template argument deduction/substitution failed:
  6687. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6688. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6689. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 36>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 36>, 3, 1, 0, 3, 1>}’ is not derived from ‘const Eigen::TranspositionsBase<TranspositionsDerived>’
  6690. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  6691. ^
  6692. In file included from /usr/include/eigen3/Eigen/Core:314:0,
  6693. from /usr/include/eigen3/Eigen/Dense:1,
  6694. from /usr/include/eigen3/Eigen/Eigen:1,
  6695. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6696. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6697. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:331:1: note: template<class Derived, class TranspositionsDerived> const Eigen::internal::transposition_matrix_product_retval<TranspositionsDerived, Derived, 2> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::TranspositionsBase<TranspositionsDerived>&)
  6698. operator*(const MatrixBase<Derived>& matrix,
  6699. ^
  6700. /usr/include/eigen3/Eigen/src/Core/Transpositions.h:331:1: note: template argument deduction/substitution failed:
  6701. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6702. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6703. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: mismatched types ‘const Eigen::TranspositionsBase<TranspositionsDerived>’ and ‘double’
  6704. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  6705. ^
  6706. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  6707. from /usr/include/eigen3/Eigen/Dense:1,
  6708. from /usr/include/eigen3/Eigen/Eigen:1,
  6709. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6710. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6711. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:523:1: note: template<class Derived, class PermutationDerived> const Eigen::internal::permut_matrix_product_retval<PermutationDerived, Derived, 1> Eigen::operator*(const Eigen::PermutationBase<PermutationDerived>&, const Eigen::MatrixBase<Derived>&)
  6712. operator*(const PermutationBase<PermutationDerived> &permutation,
  6713. ^
  6714. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:523:1: note: template argument deduction/substitution failed:
  6715. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6716. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6717. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 36>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 36>, 3, 1, 0, 3, 1>}’ is not derived from ‘const Eigen::PermutationBase<PermutationDerived>’
  6718. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  6719. ^
  6720. In file included from /usr/include/eigen3/Eigen/Core:313:0,
  6721. from /usr/include/eigen3/Eigen/Dense:1,
  6722. from /usr/include/eigen3/Eigen/Eigen:1,
  6723. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6724. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6725. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:510:1: note: template<class Derived, class PermutationDerived> const Eigen::internal::permut_matrix_product_retval<PermutationDerived, Derived, 2> Eigen::operator*(const Eigen::MatrixBase<Derived>&, const Eigen::PermutationBase<PermutationDerived>&)
  6726. operator*(const MatrixBase<Derived>& matrix,
  6727. ^
  6728. /usr/include/eigen3/Eigen/src/Core/PermutationMatrix.h:510:1: note: template argument deduction/substitution failed:
  6729. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6730. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6731. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: mismatched types ‘const Eigen::PermutationBase<PermutationDerived>’ and ‘double’
  6732. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  6733. ^
  6734. In file included from /usr/include/eigen3/Eigen/src/Core/MatrixBase.h:136:0,
  6735. from /usr/include/eigen3/Eigen/Core:279,
  6736. from /usr/include/eigen3/Eigen/Dense:1,
  6737. from /usr/include/eigen3/Eigen/Eigen:1,
  6738. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:14,
  6739. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6740. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:80:1: note: const Eigen::CwiseUnaryOp<Eigen::internal::scalar_multiple2_op<ceres::Jet<double, 36>, std::complex<ceres::Jet<double, 36> > >, const Eigen::Matrix<ceres::Jet<double, 36>, 3, 1, 0, 3, 1> > Eigen::operator*(const std::complex<ceres::Jet<double, 36> >&, const StorageBaseType&)
  6741. operator*(const std::complex<Scalar>& scalar, const StorageBaseType& matrix)
  6742. ^
  6743. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:80:1: note: no known conversion for argument 1 from ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 36>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 36>, 3, 1, 0, 3, 1>}’ to ‘const std::complex<ceres::Jet<double, 36> >&’
  6744. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:76:1: note: const ScalarMultipleReturnType Eigen::operator*(const Scalar&, const StorageBaseType&)
  6745. operator*(const Scalar& scalar, const StorageBaseType& matrix)
  6746. ^
  6747. /usr/include/eigen3/Eigen/src/Core/../plugins/CommonCwiseUnaryOps.h:76:1: note: no known conversion for argument 1 from ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 36>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 36>, 3, 1, 0, 3, 1>}’ to ‘const Scalar& {aka const ceres::Jet<double, 36>&}’
  6748. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  6749. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  6750. from /usr/local/include/ceres/ceres.h:37,
  6751. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  6752. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  6753. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6754. /usr/local/include/ceres/jet.h:368:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(T, const ceres::Jet<T, N>&)
  6755. Jet<T, N> operator*(T s, const Jet<T, N>& f) {
  6756. ^
  6757. /usr/local/include/ceres/jet.h:368:11: note: template argument deduction/substitution failed:
  6758. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6759. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6760. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: mismatched types ‘const ceres::Jet<T, N>’ and ‘double’
  6761. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  6762. ^
  6763. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  6764. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  6765. from /usr/local/include/ceres/ceres.h:37,
  6766. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  6767. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  6768. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6769. /usr/local/include/ceres/jet.h:362:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(const ceres::Jet<T, N>&, T)
  6770. Jet<T, N> operator*(const Jet<T, N>& f, T s) {
  6771. ^
  6772. /usr/local/include/ceres/jet.h:362:11: note: template argument deduction/substitution failed:
  6773. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6774. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6775. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 36>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 36>, 3, 1, 0, 3, 1>}’ is not derived from ‘const ceres::Jet<T, N>’
  6776. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  6777. ^
  6778. In file included from /usr/local/include/ceres/internal/autodiff.h:145:0,
  6779. from /usr/local/include/ceres/autodiff_cost_function.h:132,
  6780. from /usr/local/include/ceres/ceres.h:37,
  6781. from /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:13,
  6782. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19,
  6783. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6784. /usr/local/include/ceres/jet.h:355:11: note: template<class T, int N> ceres::Jet<T, N> ceres::operator*(const ceres::Jet<T, N>&, const ceres::Jet<T, N>&)
  6785. Jet<T, N> operator*(const Jet<T, N>& f,
  6786. ^
  6787. /usr/local/include/ceres/jet.h:355:11: note: template argument deduction/substitution failed:
  6788. In file included from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.h:19:0,
  6789. from /home/harsh/ridi_imu/cpp/imu_localization/imu_localization.cc:5:
  6790. /home/harsh/ridi_imu/cpp/imu_optimization/imu_optimization.h:131:56: note: ‘__gnu_cxx::__alloc_traits<std::allocator<Eigen::Matrix<ceres::Jet<double, 36>, 3, 1, 0, 3, 1> > >::value_type {aka Eigen::Matrix<ceres::Jet<double, 36>, 3, 1, 0, 3, 1>}’ is not derived from ‘const ceres::Jet<T, N>’
  6791. speed[i] = speed[i - 1] + directed_acce[i - 1] * (time_stamp_[i] - time_stamp_[i - 1]);
  6792. ^
  6793. make[2]: *** [imu_localization/CMakeFiles/IMULocalization_cli.dir/imu_localization.cc.o] Error 1
  6794. make[1]: *** [imu_localization/CMakeFiles/IMULocalization_cli.dir/all] Error 2
  6795. make: *** [all] Error 2
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