Step 15 : RUN cmake .. &&     make -j1 &&     make check &&     make install &&     ldconfig
 ---> Running in 4547ec5cc723
-- The C compiler identification is GNU 4.8.4
-- The CXX compiler identification is GNU 4.8.4
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- GTSAM include directory:  /usr/local/lib/cmake/GTSAM/../../../include
GTSAM Libraries: 
-- Boost version: 1.54.0
-- Found the following Boost libraries:
--   serialization
--   filesystem
--   system
--   program_options
--   thread
-- Configuring done
-- Generating done
-- Build files have been written to: /root/ws/admm-slam/cpp/build
Scanning dependencies of target admm
[ 33%] Building CXX object CMakeFiles/admm.dir/src/ADMM.cpp.o
In file included from /root/ws/admm-slam/cpp/src/ADMM.h:24:0,
                 from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
/root/ws/admm-slam/cpp/src/BiasedPriorFactor.h: In member function 'virtual void gtsam::BiasedPriorFactor<VALUE, BIAS>::print(const string&, const KeyFormatter&) const':
/root/ws/admm-slam/cpp/src/BiasedPriorFactor.h:71:7: error: 'traits' was not declared in this scope
       traits<T>::Print(prior_, "  prior mean: ");
       ^
/root/ws/admm-slam/cpp/src/BiasedPriorFactor.h:71:7: note: suggested alternatives:
In file included from /usr/include/boost/serialization/type_info_implementation.hpp:27:0,
                 from /usr/include/boost/serialization/tracking.hpp:32,
                 from /usr/include/boost/serialization/nvp.hpp:32,
                 from /usr/local/include/gtsam/geometry/Point2.h:20,
                 from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:24,
                 from /root/ws/admm-slam/cpp/src/ADMM.h:4,
                 from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
/usr/include/boost/serialization/traits.hpp:52:8: note:   'boost::serialization::traits'
 struct traits : public basic_traits {
        ^
In file included from /usr/local/include/gtsam/3rdparty/Eigen/Eigen/Core:252:0,
                 from /usr/local/include/gtsam/3rdparty/Eigen/Eigen/Dense:1,
                 from /usr/local/include/gtsam/3rdparty/gtsam_eigen_includes.h:25,
                 from /usr/local/include/gtsam/base/Vector.h:27,
                 from /usr/local/include/gtsam/base/Value.h:23,
                 from /usr/local/include/gtsam/base/DerivedValue.h:20,
                 from /usr/local/include/gtsam/geometry/Point2.h:22,
                 from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:24,
                 from /root/ws/admm-slam/cpp/src/ADMM.h:4,
                 from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
/usr/local/include/gtsam/3rdparty/Eigen/Eigen/src/Core/util/ForwardDeclarations.h:17:29: note:   'Eigen::internal::traits'
 template<typename T> struct traits;
                             ^
In file included from /root/ws/admm-slam/cpp/src/ADMM.h:24:0,
                 from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
/root/ws/admm-slam/cpp/src/BiasedPriorFactor.h:71:15: error: expected primary-expression before '>' token
       traits<T>::Print(prior_, "  prior mean: ");
               ^
/root/ws/admm-slam/cpp/src/BiasedPriorFactor.h:71:16: error: '::Print' has not been declared
       traits<T>::Print(prior_, "  prior mean: ");
                ^
/root/ws/admm-slam/cpp/src/BiasedPriorFactor.h: In member function 'virtual bool gtsam::BiasedPriorFactor<VALUE, BIAS>::equals(const gtsam::NonlinearFactor&, double) const':
/root/ws/admm-slam/cpp/src/BiasedPriorFactor.h:78:52: error: 'traits' was not declared in this scope
       return e != NULL && Base::equals(*e, tol) && traits<T>::Equals(prior_, e->prior_, tol);
                                                    ^
/root/ws/admm-slam/cpp/src/BiasedPriorFactor.h:78:52: note: suggested alternatives:
In file included from /usr/include/boost/serialization/type_info_implementation.hpp:27:0,
                 from /usr/include/boost/serialization/tracking.hpp:32,
                 from /usr/include/boost/serialization/nvp.hpp:32,
                 from /usr/local/include/gtsam/geometry/Point2.h:20,
                 from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:24,
                 from /root/ws/admm-slam/cpp/src/ADMM.h:4,
                 from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
/usr/include/boost/serialization/traits.hpp:52:8: note:   'boost::serialization::traits'
 struct traits : public basic_traits {
        ^
In file included from /usr/local/include/gtsam/3rdparty/Eigen/Eigen/Core:252:0,
                 from /usr/local/include/gtsam/3rdparty/Eigen/Eigen/Dense:1,
                 from /usr/local/include/gtsam/3rdparty/gtsam_eigen_includes.h:25,
                 from /usr/local/include/gtsam/base/Vector.h:27,
                 from /usr/local/include/gtsam/base/Value.h:23,
                 from /usr/local/include/gtsam/base/DerivedValue.h:20,
                 from /usr/local/include/gtsam/geometry/Point2.h:22,
                 from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:24,
                 from /root/ws/admm-slam/cpp/src/ADMM.h:4,
                 from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
/usr/local/include/gtsam/3rdparty/Eigen/Eigen/src/Core/util/ForwardDeclarations.h:17:29: note:   'Eigen::internal::traits'
 template<typename T> struct traits;
                             ^
In file included from /root/ws/admm-slam/cpp/src/ADMM.h:24:0,
                 from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
/root/ws/admm-slam/cpp/src/BiasedPriorFactor.h:78:60: error: expected primary-expression before '>' token
       return e != NULL && Base::equals(*e, tol) && traits<T>::Equals(prior_, e->prior_, tol);
                                                            ^
/root/ws/admm-slam/cpp/src/BiasedPriorFactor.h:78:61: error: '::Equals' has not been declared
       return e != NULL && Base::equals(*e, tol) && traits<T>::Equals(prior_, e->prior_, tol);
                                                             ^
/root/ws/admm-slam/cpp/src/BiasedPriorFactor.h: In member function 'gtsam::Vector gtsam::BiasedPriorFactor<VALUE, BIAS>::evaluateError(const T&, boost::optional<Eigen::Matrix<double, -1, -1>&>) const':
/root/ws/admm-slam/cpp/src/BiasedPriorFactor.h:85:25: error: 'traits' was not declared in this scope
       if (H) (*H) = eye(traits<T>::GetDimension(p));
                         ^
/root/ws/admm-slam/cpp/src/BiasedPriorFactor.h:85:25: note: suggested alternatives:
In file included from /usr/include/boost/serialization/type_info_implementation.hpp:27:0,
                 from /usr/include/boost/serialization/tracking.hpp:32,
                 from /usr/include/boost/serialization/nvp.hpp:32,
                 from /usr/local/include/gtsam/geometry/Point2.h:20,
                 from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:24,
                 from /root/ws/admm-slam/cpp/src/ADMM.h:4,
                 from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
/usr/include/boost/serialization/traits.hpp:52:8: note:   'boost::serialization::traits'
 struct traits : public basic_traits {
        ^
In file included from /usr/local/include/gtsam/3rdparty/Eigen/Eigen/Core:252:0,
                 from /usr/local/include/gtsam/3rdparty/Eigen/Eigen/Dense:1,
                 from /usr/local/include/gtsam/3rdparty/gtsam_eigen_includes.h:25,
                 from /usr/local/include/gtsam/base/Vector.h:27,
                 from /usr/local/include/gtsam/base/Value.h:23,
                 from /usr/local/include/gtsam/base/DerivedValue.h:20,
                 from /usr/local/include/gtsam/geometry/Point2.h:22,
                 from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:24,
                 from /root/ws/admm-slam/cpp/src/ADMM.h:4,
                 from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
/usr/local/include/gtsam/3rdparty/Eigen/Eigen/src/Core/util/ForwardDeclarations.h:17:29: note:   'Eigen::internal::traits'
 template<typename T> struct traits;
                             ^
In file included from /root/ws/admm-slam/cpp/src/ADMM.h:24:0,
                 from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
/root/ws/admm-slam/cpp/src/BiasedPriorFactor.h:85:33: error: expected primary-expression before '>' token
       if (H) (*H) = eye(traits<T>::GetDimension(p));
                                 ^
/root/ws/admm-slam/cpp/src/BiasedPriorFactor.h:85:34: error: '::GetDimension' has not been declared
       if (H) (*H) = eye(traits<T>::GetDimension(p));
                                  ^
/root/ws/admm-slam/cpp/src/BiasedPriorFactor.h:88:21: error: 'traits' was not declared in this scope
       Vector rval = traits<T>::Local(prior_,p);
                     ^
/root/ws/admm-slam/cpp/src/BiasedPriorFactor.h:88:21: note: suggested alternatives:
In file included from /usr/include/boost/serialization/type_info_implementation.hpp:27:0,
                 from /usr/include/boost/serialization/tracking.hpp:32,
                 from /usr/include/boost/serialization/nvp.hpp:32,
                 from /usr/local/include/gtsam/geometry/Point2.h:20,
                 from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:24,
                 from /root/ws/admm-slam/cpp/src/ADMM.h:4,
                 from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
/usr/include/boost/serialization/traits.hpp:52:8: note:   'boost::serialization::traits'
 struct traits : public basic_traits {
        ^
In file included from /usr/local/include/gtsam/3rdparty/Eigen/Eigen/Core:252:0,
                 from /usr/local/include/gtsam/3rdparty/Eigen/Eigen/Dense:1,
                 from /usr/local/include/gtsam/3rdparty/gtsam_eigen_includes.h:25,
                 from /usr/local/include/gtsam/base/Vector.h:27,
                 from /usr/local/include/gtsam/base/Value.h:23,
                 from /usr/local/include/gtsam/base/DerivedValue.h:20,
                 from /usr/local/include/gtsam/geometry/Point2.h:22,
                 from /usr/local/include/gtsam/nonlinear/NonlinearFactorGraph.h:24,
                 from /root/ws/admm-slam/cpp/src/ADMM.h:4,
                 from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
/usr/local/include/gtsam/3rdparty/Eigen/Eigen/src/Core/util/ForwardDeclarations.h:17:29: note:   'Eigen::internal::traits'
 template<typename T> struct traits;
                             ^
In file included from /root/ws/admm-slam/cpp/src/ADMM.h:24:0,
                 from /root/ws/admm-slam/cpp/src/ADMM.cpp:1:
/root/ws/admm-slam/cpp/src/BiasedPriorFactor.h:88:29: error: expected primary-expression before '>' token
       Vector rval = traits<T>::Local(prior_,p);
                             ^
/root/ws/admm-slam/cpp/src/BiasedPriorFactor.h:88:30: error: '::Local' has not been declared
       Vector rval = traits<T>::Local(prior_,p);
                              ^
make[2]: *** [CMakeFiles/admm.dir/src/ADMM.cpp.o] Error 1
make[1]: *** [CMakeFiles/admm.dir/all] Error 2
make: *** [all] Error 2
The command '/bin/sh -c cmake .. &&     make -j1 &&     make check &&     make install &&     ldconfig' returned a non-zero code: 2
Makefile:13: recipe for target 'build' failed
make: *** [build] Error 2